刚体航天器大角度姿态机动控制算法

Large Angle Attitude Maneuver Control Algorithm for Rigid Spacecraft

针对刚体航天器在参数不确定及环境扰动情况下的大角度姿态机动问题,提出一种自适应离散变结构姿态控制算法.建立包含航天器姿态运动学及动力学的仿射模型,并精确反馈线性化解耦;对得到的各线性动态方程离散化处理,由离散指数趋近律推导了参数化的离散变结构姿态控制律.最后基于Lyapunov稳定性理论设计了控制参数的自适应更新律,有效克服了模型中的各时变项及干扰项影响.仿真结果表明,该算法可有效减小干扰引起的姿态指令角跟踪偏差,确保了大角度姿态机动控制的精确性与鲁棒性,并且消除了常规变结构控制的抖振现象.

An adaptive discrete-time variable structure control algorithm is proposed for large angle atti- tude maneuver of rigid spacecraft in the presence of parametric uncertainty and external disturbances. The affine system including attitude kinematics and dynamics equations is modeled and decoupled by in- put-output feedback linearization. Then the linear dynamic equations are diseretized and the discrete-time variable structure control law is obtained via the exponential approach law. Finally, the parametric adap- tation law is designed based on Lyapunov stability theory to overcome multiple time-varying and disturb- ance terms in models. The simulation results indicate that the proposed algorithm can decrease the atti- tude tracking deviations caused by the parametric perturbations and external disturbances effectively. In addition, the system ensures the accuracy and robustness of the large angle attitude maneuver and elimi- nates the conventional control chattering.