欠驱动刚体航天器奇异避免的反步姿态控制

The singularity avoidance back-stepping attitude control of under-actuated rigid spacecraft

中文关键词  反步  欠驱动  李雅普诺夫函数  奇异性  控制  航天器

英文关键词  back-stepping  under-actuated  Lyapunov function  singularity  control  spacecraft

中文摘要

      为了完成欠驱动刚体航天器(UCRS)姿态系统的稳定控制, 使得UCRS全程稳定飞行, 本文提出了一种奇异 避免的反步控制(SABSC)方法. 首先, 对于已知的UCRS系统的动力学模型和利用(w, z)参数表述的运动学模型, 本 文通过构造合适的李雅普诺夫函数, 推导得到了两个驱动轴角速度理想的函数表达式, 确保了姿态系统参数的一致 收敛; 其次, 在理想姿态角速度的基础上, 借助于重构期望的李雅普诺夫函数, 设计得到了奇异避免的反步控制器; 最终, 为了检验本文提出的SABSC的性能, 进行了数值仿真实验, 实验结果表明本文提出的控制器具有较好的控制 性能.

英文摘要

      In order to finish the stability control of the under-actuated rigid spacecraft (UCRS) attitude system and make the UCRS fly steadily throughout the flight, a singularity avoidance back-stepping control algorithm (SABSC) is proposed by this paper. Firstly, for the known dynamics model and the kinematic model described by using the (w, z) parameters of the UCRS system, by constructing an appropriate Lyapunov function, and the ideal attitude angular velocities of two actuated axes are designed to ensure that the parameters of the attitude system are uniformly convergent. Secondly, on the basis of the ideal attitude angular velocities, with the help of reconstructing an expected Lyapunov function, the singularity avoidance back-stepping controller making the attitude system stable is designed. Finally, in order to evaluate the performance of SABSC provided by this paper, the numerical simulation experiment is given, the experimental results confirm that SABSC proposed in this paper has better control performance.