利用反步法研究了一类挠性航天器的姿态镇定问题,提出一种基于模态观测器的反步控制设计方案。首先,构造挠性模态观测器对挠性模态变量及其变化率进行观测;其次,将角速度看成虚拟控制器,设计虚拟角速度镇定运动学模型与挠性模态变量组成的子系统;最后,利用反步法设计了一种非线性控制器使得角速度能够跟踪虚拟角速度,从而实现姿态镇定的目标。当不存在外部扰动作用时,设计的控制器能够渐近镇定挠性航天器姿态控制系统。当存在有界扰动时,在控制器作用下,姿态控制系统的状态能够在有限时间内收敛到一个包含原点的可调小区域中,该区域的边界由控制器参数决定。数字仿真结果验证了所提方法的有效性。
By utilizing the backstepping control technique, a control scheme with a flexible modal observer is deduced to stabilize a class of flexible spacecraft. First, a flexible modal observer is developed to recover the flexible variables and their rates. Second, regarding the angular velocities as the virtual controllers, virtual angular velocities are presented to stabilize the subsystem composed of a kinematic model and the flexible variables. Finally, based on the backstepping control technique, a nonlinear attitude controller is designed to force the angular velocities to track the virtual angular velocities, such that the stabilization of a flexible spacecraft is achieved. In the absence of external disturbances, the proposed controller can asymptotically stabilize a flexible spacecraft attitude control system. In the presence of bounded disturbances, the states will be stabilized to an adjustable region including the origin in finite time, the bounds of which are determined by controller parameters. Numerical simulation results show the effectiveness of the proposed method.
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