关于干扰作用下航天器姿态饱和控制的结果

Saturated Control of Spacecraft Attitude Subject to External Disturbances

针对在不同干扰作用下姿态系统的饱和控制问题,对闭环系统的收敛性和稳定性进行深入研究.研究表明,对于连续型的饱和PD控制律,为保证四元数和角速度平衡点的收敛性,外界干扰应至少是二阶可积的;对于切换型的饱和PD控制律,则只需要干扰趋于零即可保证闭环系统的全局渐近稳定性.通过仿真验证本文证明结果的正确性.本文的结果对于受干扰作用和输入受限的姿态控制问题具有一定的指导作用.

In this paper,the convergence and stability are thoroughly studied for saturated controlled attitude systems subject to external disturbances. It is shown that： for continuously saturated PD controllers,the external disturbances should be square integrable to guarantee the convergence of quaternion and angular velocity; for hybrid saturated PD controllers,it is only necessary for the disturbances to converge to zero to guarantee the globally asymptotical stability of the closed loop. The conclusions drawn in this paper is useful for the attitude control problem with input constraint and external disturbances. Numerical simulations demonstrate the effectiveness of the proposed controllers.