摘要
针对刚体航天器存在模型参数不确定性和外界干扰情况下的姿态跟踪控制问题,该文提出了一种有限时间自适应积分滑模控制方法。建立了用四元数表示的航天器姿态跟踪数学模型;在不考虑参数不确定性和干扰的情况下,基于非线性系统齐次性方法设计了一种有限时间控制算法,保证航天器姿态在有限时间内跟踪上期望姿态;当扰动存在时,为提高闭环系统的鲁棒性,结合有限时间控制和滑模控制,将有限时间控制算法应用到滑模面的设计中,设计出一种有限时间积分滑模面;最后用自适应方法设计了动态滑模切换函数增益。理论分析表明该方法兼具有限时间控制和滑模控制的优点,可使闭环系统状态有限时间收敛并具有很好的鲁棒性。仿真结果说明了该方法的有效性。
For the rigid spacecraft attitude tracking control problem with parameter uncertainties and external disturbances,a method of finite time adaptive integral sliding mode controller is proposed in this paper.A spacecraft attitude tracking model is described with quaternion.The basic principles of finite time method are introduced.Then,an integral sliding surface is designed with finite time method,which estimates bound of the disturbances and parameter uncertainties.The method has the characteristic of integral sliding mode method and finite time method.Simulation results show the fine performance of the controller.
作者
冯昱澍
刘昆
冯健
FENG Yu-shu;LIU Kun;FENG Jian(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha,410073;Beijing Institute of Tracking and Telecommunications Technology,Haidian Beijing,100094;School of Aeronautics and Astronautics,Sun Yat-sen University,Guangzhou,510006;Unit 96901 PLA,Haidian Beijing,100094)
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
2021年第4期527-534,共8页
Journal of University of Electronic Science and Technology of China
基金
国家自然科学基金(61603405)。
关键词
自适应滑模
姿态跟踪
有限时间稳定
积分滑模
刚体航天器
adaptive sliding mode
attitude tracking
finite time stabilization
integral sliding mode
rigid spacecraft
