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针对欠驱动航天器姿态稳定的非线性控制设计问题,给出了欠驱动航天器的姿态动力学方程和基于四元数描述的姿态运动学方程。根据航天器欠驱动轴的角速度分量是否为零分别设计相应的姿态稳定控制律。欠驱动轴角速度分量不为零时引进角速度误差和滑模函数,提出基于滑模函数的反馈控制律,使欠驱动航天器姿态达到稳定状态。数值仿真实验结果表明了所设计控制律的有效性。
In order to solve the nonlinear control design problem of under-spacecraft attitude stability, the attitude dynamics equations of underactuated spacecraft and the attitude kinematics equations based on quaternion are given. The corresponding attitude stability control law is designed according to whether the angular velocity component of the underactuated spacecraft is zero. The angular velocity error and the sliding mode function are introduced when the angular velocity component of the drive shaft is not zero. A feedback control law based on the sliding mode function is proposed to stabilize the underactuated spacecraft attitude. Numerical simulation results show the effectiveness of the proposed control law.