Hamilton系统的鲁棒自适应控制及在航天器中的应用

Robust Adaptive Control of Hamilton System and Its Application in Spacecraft

针对带有参数不确定性和受外干扰影响的多输入多输出Hamilton系统的跟踪控制问题,提出一种基于动态逆和扩张状态观测器的抗饱和鲁棒自适应控制方法。针对标称模型设计了基于动态逆方法的控制器,采用基于投影算子的自适应律和扩张状态观测器,分别对系统中的不确定参数和外干扰进行估计和补偿,同时,采取动态补偿器降低执行器饱和对控制性能的影响。采用提出的设计方法,对航天器存在转动惯量参数不确定性、外干扰和执行器饱和的姿态控制问题进行了仿真验证,仿真结果表明了该方法能保证良好的控制性能和较强的鲁棒性。

In order to solve the tracking control problem of nonlinear Hamilton systems with uncertain parameters and external disturbances,a novel adaptive robust anti-windup control law based on dynamic inversion and extended state observer was proposed. A dynamic inversion method was introduced to control the nominal system,then a novel adaptive law based on projection algorithm was used to compensate uncertain parameters,and an extended state observer was used to estimate external disturbances. And a dynamic compensation block was added to improve system performance in the presence of saturation. The proposed control method was applied to a typical model in the domain of spacecraft attitude control problem,and simulation results proved the fine control performance and strong robustness of the proposed method.