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研究控制输入受限的卫星在转动惯量大小完全未知且存在有界外部干扰时的姿态镇定问题,利用四元数和双曲正切函数的有界性设计了一种不依赖于卫星转动惯量的有界鲁棒自适应滑模控制律,其中自适应律在线调节滑模面参数。用李亚普诺夫方法证明了:通过选择控制器参数可保证闭环系统的姿态误差和角速度误差渐近趋于零。仿真结果表明:利用所设计的控制律可在控制输入受限情况下有效抑制外部干扰和转动惯量不确定性的影响,达到预期控制目标。
The problem of attitude stabilization of a satellite with a limited control input when the magnitude of moment of inertia is completely unknown and there is a bounded external disturbance is studied. By using the boundedness of the quaternion and hyperbolic tangent functions, a satellite independent of the moment of inertia Robust adaptive sliding mode control law, in which the adaptive law adjusts the sliding mode parameters online. The Lyapunov method is used to prove that the attitude error and angular velocity error of the closed-loop system can be guaranteed to be asymptotic to zero by selecting the controller parameters. The simulation results show that the proposed control law can effectively suppress the influence of the external disturbance and the moment of inertia uncertainty under the control input limitation and achieve the expected control objective.