未标定的视频小卫星深空目标凝视控制

Staring control for deep space targets based on uncalibrated small video satellite

设计了一种目标凝视自适应姿态控制方法,可以实现未知目标位置和未标定相机参数条件下的目标凝视控制。根据运动学方程提取出恰当的未知参数,从而将参数进行线性化表示;引入关于未知参数的势函数,确保参数矩阵的秩满足稳定性要求;采用了一个参数自更新律在线估计未知参数,提出了基于估计参数的自适应控制律。采用李雅普诺夫稳定性理论和芭芭拉特引理,证明了目标成像位置与期望成像位置的误差可以渐近收敛到零。仿真结果表明:目标位置未知且相机参数存在偏差的情况下,该自适应控制器能够有效地对深空目标进行凝视观测。

A target staring adaptive attitude control method was designed,which could achieve staring at the target in the presence of the unknown target′s position and camera parameters.Based on the kinematic equation,the estimated parameters were extracted and linearized.A potential function with respect to unknown parameters was introduced to meet the demand for the rank of the parameter matrix.A self-updating principle of parameters was adopted to estimate the parameters on line,and accordingly,the adaptive control method was proposed.Based on the Lyapunov stability theory and Barbalat′s lemma,it was proved that the error between the target imaging position and the desired imaging position could asymptotically converge to zero.Simulation results reveal that the adaptive controller can effectively achieve staring observation for deep space targets with the uncertainties of the target position and the camera parameters.