空间姿态精确指向的抗退绕终端滑模控制

  • 常欣展 ,
  • 胥馨月 ,
  • 张博 ,
  • 董瀚林 ,
  • 马志强 ,
  • 肖冰
展开
  • 1. 西北工业大学
    2. 上海霄元创新中心

收稿日期: 2025-12-19

  修回日期: 2026-04-08

  网络出版日期: 2026-04-14

基金资助

国家自然科学基金;国家自然科学基金;国家自然科学基金;中央高校基本科研业务项目

Anti-unwinding Terminal Sliding Mode Control for High-Precision Space Attitude Pointing

  • CHANG Xin-Zhan ,
  • XU Xin-Yue ,
  • ZHANG Bo ,
  • DONG Han-Lin ,
  • MA Zhi-Qiang ,
  • XIAO Bing
Expand

Received date: 2025-12-19

  Revised date: 2026-04-08

  Online published: 2026-04-14

摘要

针对基于四元数描述的经典终端滑模控制方法直接用于航天器姿态控制易引发姿态退绕的问题,考虑执行器输出受限、外部扰动幅值未知等控制综合要素,提出一种集成抗退绕与输入饱和抑制能力的终端滑模控制方法。首先,基于单位误差四元数构建刚体姿态跟踪动力学模型,提出一种新型终端滑模函数,并基于 Lyapunov 稳定性理论证明了姿态跟踪系统在相应滑模降阶系统上的有限时间稳定性与抗退绕性能。进一步运用含动态参数和辅助系统的控制律,确保系统状态在有限时间内收敛且保持全局抗退绕特性。通过引入非线性扰动观测器对集总扰动进行动态补偿,有效提升了系统的鲁棒性能。最后,仿真结果表明,该方法能够在 30s 内迅速完成高精度姿态指向,同时避免退绕现象的发生,其控制力矩满足 0.1N·m 的幅值约束,验证了所提方法的有效性。

本文引用格式

常欣展 , 胥馨月 , 张博 , 董瀚林 , 马志强 , 肖冰 . 空间姿态精确指向的抗退绕终端滑模控制[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.33260

Abstract

The quaternion-based classical terminal sliding mode (TSM) control methods tend to induce attitude unwinding problem when directly applied to spacecraft attitude control mission. Moreover, control practice must account for constraints such as actuator output limits and unknown external disturbances. To address these issues, this paper proposes a TSM control method that integrates both anti-unwinding and anti-windup capabilities. The system's kinematic and dynamic models are established based on the unit error quaternion. A new terminal sliding surface is designed, and the finite-time stability and unwinding resistance of the sliding mode are proven using an asymmetric Lyapunov function. Further, a control law with dynamic parameters and an auxiliary system is constructed to ensure finite-time convergence of system states and maintain global unwinding resistance. A nonlinear disturbance observer (DOB) is introduced for dynamic compensation of lumped disturbances, effectively enhancing system robustness. Simulation results show that the method completes the attitude pointing process within 30s, avoids unwinding, ensures the control torque meets the 0.1N·m amplitude constraint, and achieves significantly higher control accuracy than traditional methods, providing an innovative solution for high-precision spacecraft attitude control.

参考文献

[1]肖冰,张海朝.航天器姿态稳定强化学习鲁棒最优控制方法[J].航空学报, 2024, 45(1):51-65
[2]袁利, 张科备, 雷拥军.航天器敏捷机动控制技术发展及展望[J].宇航学报, 2024, 45(1):1-11
[3]周成宝, 李世兴, 班晓军, 等.自适应挠性航天器姿态非线性控制[J].兵器装备工程学报, 2025, 46(4):235-242
[4]ZHENG X H, LI H, AHN C K, et al.Nn-based fixed-time attitude tracking control for multiple unmanned aerial vehicles with nonlinear faults[J].IEEE Transactions on Aerospace and Electronic Systems, 2022, 59(2):1738-1748
[5]黄江涛, 刘刚, 高正红, 等.飞行器多学科耦合伴随体系的现状与发展趋势[J].航空学报, 2020, 41(5):1-24
[6]姜斌, 孟庆开, 杨浩.航天器姿轨控制研究综述: 微分几何控制方法[J].控制与决策, 2023, 38(8):2079-2092
[7]GUO Y, Guo J H, SONG S M.Backstepping control for attitude tracking of the spacecraft under input saturation[J].Acta Astronautica, 2017, 138(1):318-325
[8]CHEN X L, XIE Z C, YOUNGHO EUN, et al.An observation model from linear interpolation for quaternion-based attitude estimation[J].IEEE Transactions on Instrumentation and Measurement, 2023, 72(/):8501312-/
[9]LU H S, WANG C Q, LI A J, et al.Sliding mode control strategy of spinning electrodynamic tether formation during its spin-up process[J].IEEE Transactions on Aerospace and Electronic Systems, 2023, 60(1):449-462
[10] 宋申民.运动稳定性与航天控制 [M]. 北京:科学出版社, 2014:435-439.
[11]HU Q, CHI B, Akella M R.Anti-unwinding attitude control of spacecraft with forbidden pointing constraints[J].Journal of Guidance, Control, and Dynamics, 2019, 42(4):822-835
[12]HU Q L, LI L, MICHAEL I.Spacecraft anti-unwinding attitude control with actuator nonlinearities and velocity limit[J].Journal of Guidance, Control, and Dynamics, 2015, 38(10):2042-2050
[13]LONG H H, LIU F C, ZHAO J K, et al.Anti-unwinding constrained attitude control for flexible spacecraft with actuator saturation[J].Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, 2016, 230(1):90-104
[14]DONG R Q, WU A G, ZHANG Y.Anti-unwinding sliding mode attitude maneuver control for rigid spacecraft[J].IEEE Transactions on Automatic Control, 2021, 67(2):978-985
[15] 王海军.基于对偶四元数的刚性航天器抗退绕姿轨联合控制[D]. 哈尔滨:哈尔滨工业大学, 2024: 26-39.
[16]XU Y T, WU A G, DONG R Q.Anti-unwinding attitude maneuver control with predefined time for rigid spacecraft with input saturation[J].International Journal of Robust and Nonlinear Control, 2024, 34(13):8919-8944
[17]YU X H, FENG Y, MAN Z H.Terminal sliding mode control–an overview[J].IEEE Open Journal of the Industrial Electronics Society, 2020, 2(/):36-52
[18]DONG H L, YANG X B, GAO H J, et al.Practical terminal sliding-mode control and its applications in servo systems[J].IEEE Transactions on Industrial Electronics, 2022, 70(1):752-761
[19]TURNER M C, RICHAARDS C M.Constrained rigid body attitude stabilization: an anti-windup approach[J].IEEE Control Systems Letters, 2020, 5(5):1663-1668
[20]MAHDI A M, AMIN R, ALI M.Adaptive terminal sliding mode active fault-tolerant control for a class of uncertain nonlinear systems with application of aircraft wing model with actuator faults[J].International Journal of Systems Science, 2024, 55(6):1259-1269
[21]崔凯鑫,段广仁.基于干扰观测器的一类组合航天器高阶全驱抗干扰控制[J].航空学报, 2024, 45(1):73-85
[22]刘将辉,李海阳,张政,等.相对失控翻滚目标悬停的自适应模糊滑模控制[J].航空学报, 2019, 40(5):182-192
[23] 戚文念.基于分布式观测器的多航天器姿态协同控制 [D]. 哈尔滨:哈尔滨工业大学, 2023: 1-14, 51-78.
[24] 董瀚林.航天器绕航的姿轨同步滑模控制方法研究 [D]. 哈尔滨:哈尔滨工业大学, 2022: 46-60.
[25]刘世杰, 黄志来, 杨明星, 等.含边界层的机械臂分数阶滑模控制[J].上海工程技术大学学报, 2021, 35(4):327-332
[26]刘陆, 丁世宏, 李世华.高阶滑模控制理论综述[J].控制理论与应用, 2022, 39(12):2193-2201
[27]许闯,吴宝林.输入饱和下多航天器分布式固定时间输出反馈姿态协同控制[J].航空学报, 2023, 44(10):226-243
[28]GALVAN-GUERRA R, VELAZQUEZ J E, Fridman L, et al.Continuous integral sliding mode control for systems with state and input constraints[J]., 2025, :-
[29]ZHUANG G M, LIU Y Q, XIE X P, et al.H∞ adaptive slidingmode control for nonlinear delayed singular systems under impulsive attacks via piecewise auxiliary functions method[J].IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2024, 54(9):5488-5500
[30]JOAN SOLA. Quaternion kinematics for the error-state kalman filter[J]. arXiv prep.[J].rXiv: 1711.02508, 2017., rint, :-
[31]冯路明, 路坤锋, 刘晓东.一种微型航天器姿态跟踪的四元数实现方法[J].航天控制, 2023, 41(1):15-20
[32]DONG H L, YANG X B, QIU J B.Constrained adaptive fuzzy super-twisting control for space circumnavigation mission with input constraints and rough dynamics information[J].Information Sciences, 2022, 609(/):100-120
[33]杨元喜, 徐天河.不同坐标系综合变换法[J].武汉大学学报 信息科学版, 2001, 26(6):509-513
[34]DONG R Q, WU A G, ZHANG Y, et al.Anti-unwinding terminal sliding mode attitude tracking control for rigid spacecraft[J].Automatica, 2022, 145(/):110567-/
[35]ZHU T G, LIU Y, LI W K, et al.The quaternion-based attitude error for the nonlinear error model of the ins[J].IEEE Sensors Journal, 2021, 21(22):25782-25795
[36]SANJAY P B, DENNIS S B.Finite-time stability of continuous autonomous systems[J].SIAM Journal on Control and optimization, 2000, 38(3):751-766
[37]YU S H, YU X H, SHIRINZADEH B, et al.Continuous finite-time control for robotic manipulators with terminal sliding mode[J].Automatica, 2005, 41(11):1957-1964
[38]ZHANG H Z, YE D, XIAO Y, et al.Adaptive control on se(3) for spacecraft pose tracking with harmonic disturbance and input saturation[J].IEEE Transactions on Aerospace and Electronic Systems, 2022, 58(5):4578-4594
[39]DONG R Q, WU A G, ZHANG Y.Anti-unwinding sliding mode attitude maneuver control for rigid spacecraft[J].IEEE Transactions on Automatic Control, 2022, 67(2):978-985
[40]ZHU Z, XIA Y Q, FU M Y.Adaptive sliding mode control for attitude stabilization with actuator saturation[J].IEEE Transactions on Industrial Electronics, 2011, 58(10):4898-4907
[41]GUI H C, JIN L, XU S J.Simple finite-time attitude stabilization laws for rigid spacecraft with bounded inputs[J].Aerospace Science and Technology, 2015, 42(/):176-186
文章导航

/