航天器平移及姿态机动自适应终端滑模控制

ADAPTIVE TERMINAL SLIDING MODE CONTROL FOR SPACECRAFT WITH TRANSLATION AND ATTITUDE MANEUVERS

研究了用于航天器平移及姿态机动的自适应终端滑模控制方法.通过在广义准坐标下建立拉格朗日方程得到了刚体航天器平移及姿态耦合运动的动力学方程.能对存在模型不确定性和环境扰动下的航天器实现平移和姿态机动.该自适应过程包括对不确定性和干扰的估计、有效抑制传统滑模控制的抖振现象.利用李雅普诺夫稳定性理论证明了控制器的可达性和稳定性.通过航天器的位置以及姿态跟踪的数值仿真,验证了所设计控制器的有效性和准确性.

Adaptive terminal sliding mode control for spacecraft with coupled translation and attitude maneuvers is investigated in this paper. The mathematical model for the rigid spacecraft with translation and attitude coupled dynamics are obtained by means of Lagrange＇s equations in terms of general quasi-coordinates. An adaptive fast terminal sliding mode control is proposed for spacecraft to achieve translation and attitude maneuvers in the presence of model uncertainties and environmental perturbations. This adaptive procedure consists of the estimation of the uncertainty and disturbance and ensures the effective suppression of the undesired chattering. The reach-ability and the stability of the controllers are proved by means of the Lyapunov＇ s stability theory. The efficiency and the accuracy of the proposed controller are examined through numerical simulations of the spacecraft position and attitude tracking maneuvers.