欠驱动直连式三体绳系卫星非线性姿态跟踪控制

doi:10.7527/S1000-6893.2014.0296

电子与控制

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欠驱动直连式三体绳系卫星非线性姿态跟踪控制

黄静, 李传江, 马广富

哈尔滨工业大学航天学院, 哈尔滨 150001

收稿日期:2014-05-28 修回日期:2014-08-15 出版日期:2015-06-15 发布日期:2014-11-24
通讯作者: 马广富 Tel.: 0451-86402726 E-mail: magf@hit.edu.cn E-mail:magf@hit.edu.cn
作者简介:黄静女, 博士研究生。主要研究方向: 绳系卫星姿态与轨道控制, 非线性控制, 鲁棒最优控制。 Tel: 0451-86413411-8606 E-mail: huangjing04415@163.com;李传江男, 博士, 教授, 博士生导师。主要研究方向: 卫星姿态与轨道控制, 最优控制。 Tel: 0451-86413411-8606 E-mail: chuanjiangli@gmail.com;马广富男, 博士, 教授, 博士生导师。主要研究方向: 航天器控制, 最优控制, 鲁棒控制。 Tel: 0451-86402726 E-mail: magf@hit.edu.cn
基金资助:
国家自然科学基金 (61304005, 61174200)

Nonlinear attitude tracking control of underactuated three-inline tethered satellite

HUANG Jing, LI Chuanjiang, MA Guangfu

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2014-05-28 Revised:2014-08-15 Online:2015-06-15 Published:2014-11-24
Supported by:
National Natural Science Foundation of China (61304005, 61174200)

摘要/Abstract

摘要：

针对存在外部有界干扰和控制饱和的欠驱动直连式三体旋转绳系卫星系统姿态跟踪控制问题,提出了一种分布式非线性控制方法。首先考虑单体欠驱动绳系卫星姿态模型,由于其复杂的非完整动力学特性,应用微分同胚映射的方法先将模型进行转换,进一步基于反步法设计了欠驱动姿态跟踪滑模控制器,并结合抗饱和方法解决了控制受限的问题。然后应用Lyapunov稳定性定理证明了其闭环系统的一致最终有界性。进一步考虑绳系卫星系统的运动同步性,将欠驱动单体绳系卫星姿态控制器设计扩展至直连式三体绳系卫星姿态系统,设计了分布式欠驱动非线性控制器。最后进行了数学仿真,验证了本文所设计控制方法的有效性。

关键词: 绳系卫星, 欠驱动系统, 姿态控制, 鲁棒控制, 控制饱和

Abstract:

A decentralized nonlinear control strategy is proposed for attitude tracking of underactuated three-inline spinning tethered satellite system in the presence of bounded disturbances and control saturation. For an underactuated single-tethered satellite, a change of coordinates by nonlinear diffeomorphism is used for the complex dynamics of non-complete. Then, a robust sliding mode control scheme is proposed such that the underactuated tethered satellite attitude system is able to track the command signals in the presence of control saturation based on backstepping philosophy combined with anti-windup technique. Within the Lyapunov framework, the uniformly ultimate boundedness of the system states is guaranteed. Further, considering the movement synchronization of tethered satellite system, the attitude controller design for underactuated single-tethered satellite is extended to the three-inline system and a decentralized attitude tracking controller is developed. Numerical simulation results demonstrate the effective of the control strategy.

Key words: tethered satellites, underactuated system, attitude control, robust control, control saturation

中图分类号:

V442.8

黄静, 李传江, 马广富. 欠驱动直连式三体绳系卫星非线性姿态跟踪控制[J]. 航空学报, 2015, 36(6): 1995-2004.

HUANG Jing, LI Chuanjiang, MA Guangfu. Nonlinear attitude tracking control of underactuated three-inline tethered satellite[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(6): 1995-2004.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

欠驱动直连式三体绳系卫星非线性姿态跟踪控制

Nonlinear attitude tracking control of underactuated three-inline tethered satellite

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