摘要
针对修正罗德里格参数描述的航天器姿态运动模型,利用扩张状态观测器(ESO)研究无角速度测量下的无源姿态跟踪控制问题.首先,为了削弱常值增益ESO中的峰化现象,设计一种时变增益ESO对角速度和系统的总干扰进行估计;进一步考虑航天器姿态运动的无源特性,结合互连和阻尼分配无源控制(IDA-PBC)理论及backstepping思想设计跟踪控制律;最后,从理论上对闭环系统的稳定性进行严格证明.仿真结果验证了所提出控制方法的有效性.
Passive attitude tracking control without angular velocity measurement is investigated based on the extended state observer（ESO）, for the spacecraft attitude motion model described by modified Rodrigues parameters. Firstly, to weaken the peaking phenomenon in the constant gain ESO, a time-varying gain ESO is designed to provide estimations of both angular velocity and total disturbance of the attitude motion system. Then, by considering the passivity property of spacecraft attitude motion, combing the interconnection and damping assignment passivity-based control（IDA-PBC）theory and the backstepping idea, the tracking control law is designed. Finally, the stability of the closed-loop system is proved theoretically. Numerical simulations demonstrate the validity of the proposed control method.
出处
《控制与决策》
EI
CSCD
北大核心
2018年第2期193-202,共10页
Control and Decision
基金
国家自然科学基金项目(61374012)
航空科学基金项目(2016ZA51011)
关键词
姿态跟踪
无源性
互连和阻尼分配
扩张状态观测器
时变增益
attitude tracking
passivity
interconnection and damping assignment
extended state observer
time-varying gain
