面向非沿轨迹成像的切比雪夫神经网络滑模姿态控制
收稿日期: 2014-08-27
修回日期: 2015-04-30
网络出版日期: 2015-10-13
基金资助
中央高校基本科研业务费专项资金(HIT.NSRIF.2015033)
Sliding mode control for nonparallel-ground-track imaging using Chebyshev neural network
Received date: 2014-08-27
Revised date: 2015-04-30
Online published: 2015-10-13
Supported by
The Fundamental Research Funds for the Central Universities (HIT.NSRIF.2015033)
针对地面兴趣点不沿星下点轨迹的动态非沿轨迹成像问题,设计了一种基于切比雪夫神经网络(CNN)的非奇异快速终端滑模控制器。首先,研究了非沿轨迹成像模式的姿态调整方法,并推导了相应的期望姿态角和姿态角速度。其次,基于由误差四元数描述的跟踪运动学模型设计了非奇异快速终端滑模(NFTSM)控制器。为提高控制精度,引入了只需要期望信号的CNN来估计系统总扰动,从而有效削弱了滑模系统的固有抖振。为保证神经网络的输出有界,引入一个开关函数以实现自适应神经网络(ANN)与鲁棒控制之间的切换控制。最后,对具有干扰和参数不确定的姿态控制系统进行了数值仿真,结果表明该方法收敛速度快,控制精度高,具有一定的工程实际意义。
关键词： 遥感成像; 姿态跟踪; 滑模控制; 切比雪夫神经网络(CNN); 李雅普诺夫方法
叶东 , 屠园园 , 孙兆伟 . 面向非沿轨迹成像的切比雪夫神经网络滑模姿态控制[J]. 航空学报, 2015 , 36(9) : 3092 -3104 . DOI: 10.7527/S1000-6893.2015.0114
A nonsingular and fast terminal sliding mode controller based on the Chebyshev neural network (CNN) is designed for nonparallel-ground-track imaging mode, whose ground targets and ground track are not parallel. Firstly, the specific method of attitude adjustment for nonparallel-ground-track imaging mode is studied to get the desired attitude angle and angular velocity. Secondly, according to the tracking dynamic and kinematic model described by quaternion error, a nonsingular and fast terminal sliding mode (NFTSM) controller is derived. In order to enhance control accuracy, a CNN that is implemented using only desired signals is introduced to approximate the general disturbance which efficiently weakens the chattering inherent in sliding mode structure. In order to guarantee that the output of the NN used in the controller is bounded by the corresponding bound of the approximated disturbance, a switch function is applied to generating a switching between the adaptive neural network (ANN) control and the robust controller. Finally, numerical simulations on the attitude tracking control of spacecraft in the presence of environmental disturbance and parameters' uncertainties are performed, the results of which show that the designed control scheme has fast convergence, high control accuracy and certain actual engineering significance.
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