考虑多禁止指向区域的航天器反步姿态机动控制

Spacecraft Backstepping Attitude Control Considering Multiple Forbidden Pointing Regions

针对规避多个禁止指向区域的航天器姿态机动控制问题,本文在利用势函数法构造约束条件的基础上设计了一种基于反步法的航天器姿态机动控制律。首先,构造了一种通用的基于误差四元数的航天器锥形禁止指向姿态集描述,并将其转化为凸约束集形式。其次,基于该凸约束集,提出了一种物理意义明确的新型凸势函数构造方法,且该势函数仅存在唯一全局最小值,避免了传统势函数的局部极小值问题。进一步地,考虑多个禁止指向区域,设计了一种基于反步法的航天器姿态机动控制律。最后,通过典型数值仿真算例表明了本文所提出控制算法的有效性和优越性。

Aiming at the spacecraft attitude maneuver control for avoiding multiple forbidden pointing regions, a spacecraft attitude control law based on the backstepping method is designed in this paper, which uses a potential function method to construct constraints. Firstly, based on the error quaternion, a general description of spacecraft’s conical forbidden pointing attitude set is built and then transformed into the convex constraints set. Secondly, based on the convex constraints set, a new convex potential function with explicit physical meaning is proposed, and the potential function only has a unique global minimum, which avoids the local minimum of the traditional potential function. Furthermore, a backstepping control law considering multiple forbidden pointing regions is designed for spacecraft attitude maneuver. Finally, the effectiveness and superiority of the proposed control algorithm is proved by a typical numerical simulation.