基于能量的欠驱动直连式双体绳系卫星稳定控制

The stability control of under-actuated direct connected dual body tethered satellite based on energy

中文关键词  欠驱动  绳系卫星  神经网络  能量  评价函数

英文关键词  under-actuated  tethered satellite  neural network  energy  evaluation function

中文摘要

      针对存在未建模动态扰动的欠驱动直连式双体绳系卫星(UDBTS)系统的姿态稳定控制问题, 本文提出了一种基于径向基函数(RBF)神经网络补偿的能量控制器(ECNNC), 用于完成UDBTS系统的姿态稳定控制. 首先, 对于已知的UDBTS系统动力学模型, 通过分别构造合适的能量评价函数, 推导得到双体绳系卫星基于能量的控制器(EC), 确保UDBTS系统姿态参数的一致收敛; 其次, 本文设计了RBF神经网络补偿器, 用于消除UDBTS系统未建模动态产生的扰动影响; 最终, 为了检验本文提出的ECNNC的性能, 进行了数值仿真实验, 与EC和滑模控制器(SMC)相比, 实验结果表明, 本文提出的ECNNC具有更好的控制性能.

英文摘要

      For the attitude stability control problem of under-actuated direct connected dual body tethered satellite (UDBTS) system with disturbance effect of un-modeled dynamics, this paper proposes an energy controller based on the radial basis function (RBF) neural network compensation (ECNNC), which is used to finish the attitude stability control of UDBTS system. Firstly, for the known dynamics model of the UDBTS system, by constructing appropriate energy evaluation function separately, the energy based controller (EC) of dual body tethered satellite is derived, which is used to ensure that the attitude parameters of the UDBTS system are uniformly convergent. Secondly, the RBF neural network compensator is designed to offset the disturbance effect of un-modeled dynamics of UDBTS system. Finally, in order to evaluate the performance of ECNNC provided by this paper, the numerical simulations are given, and by comparing the results with that of EC and sliding mode controller (SMC), it is found that ECNNC proposed in this paper has better performance.