航天器姿态输出反馈抗干扰跟踪控制

Output feedback tracking control of spacecraft attitude with disturbance rejection

针对采用四元数描述的航天器姿态运动模型研究输出反馈抗干扰跟踪控制问题.首先在姿态运动模型的基础上,结合四元数的性质设计扩张状态观测器(extended state observer,ESO)来估计角速度和干扰力矩,从理论上保证了ESO中的四元数状态满足范数约束,并证明了观测误差的收敛性;进一步利用互连和阻尼分配无源控制(interconnection and damping assignment passivity-based control,IDA--PBC)理论设计控制律,通过姿态和角速度误差状态变换以及引入误差积分项,使得期望的姿态和角速度误差,以及积分项误差运动方程中均出现阻尼项,提高了系统的抗干扰性能,最后利用Laypunov函数证明了闭环系统一致最终有界稳定.仿真结果验证了所设计ESO和IDA--PBC控制律的有效性.

Output feedback tracking control of spacecraft attitude motion with disturbance rejection is investigated,where the attitude model is described by the unit quaternion.Firstly,based on the attitude model and combination of the characteristics of the unit quaternion,extended state observer(ESO)is designed to estimate angular velocity and disturbance torque.The unit quaternion state in the ESO is assured to satisfy norm constraint,and convergence of observation error is proved in theory.Furthermore,interconnection and damping assignment passivity-based control(IDA--PBC)theory is utilized to design the control law.By transformation of attitude and angular velocity error state and introduction of error integral terms,the damping terms appear among dynamic equations of desired attitude error,angular velocity error and error integral term.The disturbance rejection performance is then increased.Finally,proof of the uniform ultimate bounded stability of closed system is given within Lyapunov function framework.Simulation results demonstrate effectiveness of the designed ESO and IDA--PBC control law.