摘要
针对空间臂捕获未知目标航天器后的控制问题,本文提出了一种新方案.基于动量的估计方法和递推最小二乘算法在线估计组合式航天器的惯性参数,并通过一种基于比例微分反馈的直接参数方法处理组合姿态控制系统,此方法给出了完整的参数化双反馈增益.考虑到推力器的配置和配置矩阵的测量误差,提出了具有多面体和多胞体形式摄动的鲁棒控制分配方法.最后,数值仿真结果验证了所提方法的有效性.
This paper presents a new control scheme for the problem of a space manipulator after capturing an unknown target. Since the inertia parameters of the combined spacecraft have been identified online depending on momentum-based estimation method and recursive least squares algorithm, a direct parametric approach via proportional plus derivative feedback is proposed for the combined attitude control system, which gives a complete parametrization of the pair of feedback gains. Considering the thruster’s configuration and the measurement error of the configuration matrix, robust control allocations with perturbation both in regular polyhedral and polytopic form are developed. Finally, numerical simulations demonstrate the effectiveness of the proposed approach.
作者
黄秀韦
段广仁
HUANG Xiu-wei;DUAN Guang-ren(Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin Heilongjiang 150001,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2018年第10期1447-1457,共11页
Control Theory & Applications
基金
Supported by the Major Program of National Natural Science Foundation of China(61690210,61690212)
the Self-Planned Task(SKLRS201502B) of State Key Laboratory of Robotics and System(HIT)
the National Natural Science Foundation of China(61333003)
关键词
鲁棒控制分配
组合航天器
姿态控制
直接参数化方法
参数辨识
robust control allocation
combined spacecraft
attitude control
direct parametric approach
parameter identification