航天器全状态约束输出反馈控制

Full state constrained output feedback control for rigid spacecraft

中文关键词  全状态约束  障碍李雅普诺夫函数  输出反馈控制  姿态跟踪

英文关键词  full state constraint  barrier Lyapunov function  output feedback control  attitude tracking

中文摘要

      针对无角速度测量的刚性航天器姿态跟踪问题, 提出一种全状态约束输出反馈控制方法. 建立修正罗德里格参数描述的系统模型, 设计能够适用于约束与非约束情况的改进型障碍李雅普诺夫函数, 拓展传统对数型障碍李雅普诺夫函数的适用范围. 构造二阶辅助系统, 将控制输入和饱和输入之间的差作为构造系统的输入, 进而产生信号以补偿饱和的影响. 设计状态观测器估计未知状态量, 并结合反步法设计输出反馈控制律, 保证系统全状态约束性能和姿态跟踪精度. 通过李雅普诺夫稳定性分析证明姿态观测误差和跟踪误差能够达到一致最终有界. 仿真结果验证所提方法的有效性.

英文摘要

      In this paper, a full state constrained output feedback control scheme is proposed for rigid spacecrafts without angular velocity measurement. The system model is constructed based on modified Rodrigues parameter description, and a modified barrier Lyapunov function (MBLF) is presented to be suitable for constraint and non-constraint conditions, such that the application scope of traditional logarithmic barrier Lyapunov function could be extended. A second order auxiliary system is constructed, with the error between the control input and saturation input as the input of the constructed system, and signals are generated to compensate the effect of saturation. Then, a state observer is designed to estimate unknown system states, and the output feedback control law is designed by using backstepping techniques to ensure the full state constraints and attitude tracking accuracy. Through the Lyapunov stability analysis, the state observation errors and tracking errors are proved to be uniformly ultimately bounded. Simulation results validate the effectiveness of the proposed scheme.