几何约束下的航天器姿态机动控制

Attitude maneuver control of spacecraft under geometric constraints

针对航天器姿态机动过程中受几何约束的问题,提出一种控制方法使系统在满足局部约束的情况下获得较好的全局性能.为了考虑全局性能并减少全局规划的计算代价,采用伪谱法以较少节点得到满足几何约束的路径节点.在局部节点跟踪控制中,通过分析航天器姿态机动所受的几何约束以及四元数在线性化状态方程中的传递形式,设计具有保守性的几何约束凸化表达式,并给出了姿态机动预测控制律.仿真结果验证了所提出方法的可行性和有效性.

A method considering global performance and local constraints is proposed for constraint attitude control problem. The pseudo-spectral method,with few nodes for lower computation burden,is used as global path planner to obtain attitude path nodes with good global performance.The local controller to track path nodes is advanced by using predictive control method,and the convex constraint formulation with conservation is designed through the analysis of property of geometric constraint and quaternion propagation in linearized dynamics.Simulation results show the effectiveness and feasibility of the method.