非合作目标绕飞任务的航天器鲁棒姿轨耦合控制

Robust relative position and attitude control for non-cooperative fly-around mission

中文关键词  非合作绕飞  视线指向  姿轨耦合  输入饱和  鲁棒控制

英文关键词  non-cooperative fly-around mission  sight orientation  coupled attitude and position motion  input saturation  robust control

中文摘要

      本文研究了非合作目标强迫绕飞过程中存在外部干扰和参数不确定性以及控制输入饱和约束下的航天器鲁棒姿轨耦合控制问题. 首先, 根据视线坐标系下的轨道动力学方程和本体坐标系下的姿态动力学方程, 建立了满足视线指向要求的航天器相对姿轨耦合动力学模型. 其次, 针对姿轨耦合模型, 基于反步法设计了具有抗饱和能力的鲁棒自适应姿轨耦合控制律, 其中利用抗饱和技术设计了饱和补偿器,并结合自适应方法对未知参数和扰动上界进行估计, 并基于Lyapunov方法给出了闭环系统的稳定性证明. 最后, 将提出的控制方案进行了数值仿真和比较, 验证了其有效性.

英文摘要

      This paper studies the relative position and attitude control of spacecraft fly-around mission in the presence of parameter uncertainties, disturbances and input saturation. Firstly, an integrated and coupled 6 DOF relative motion dynamic model by satisfying the sight orientation requirements is established, which is consisted of 3 DOF relative position dynamic model expressed in the LOS frame and 3 DOF relative attitude dynamic model described by Modified Rodriguez parameters (MRPs). Then, by using the backstepping control method, a robust adaptive control scheme is proposed, among which the anti-windup technique is employed to design a saturation compensator such that the adverse effects caused by actuator saturation can be reduced, and the adaptive methodology is applied to estimate unknown parameters and the upper bound of the disturbances. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control schemes.