基于二阶全驱系统的航天器姿态避障控制

doi:10.7527/S1000-6893.2023.28958

Abstract

Abstract:

An attitude maneuver control method based on a fully actuated system model is proposed for large-angle maneuvers of spacecraft in the presence of attitude forbidden region and disturbance torque. The attitude kinematics is developed on the 3-dimensional Special Orthogonal Group （SO（3））， and the second-order fully actuated model of error attitude is established based on exponential coordinates， the corresponding Lie algebra of SO（3）. The Barrier Lyapunov Functions （BLFs） based on SO（3） are introduced to ensure that the attitude constraints are obeyed when the values of BLFs are bounded. Finally， the Total Lyapunov Function （TLF） containing the BLFs is developed and analyzed. The nonlinear terms in the derivative of TLF are eliminated by using the sliding mode technique and the properties of parameter matrices in the second-order fully actuated model to get a concise control law. Numerical simulation results indicate that using the proposed control method， the spacecraft converges to the desired attitude without entering the attitude forbidden region， and the steady-state error and control energy consumption perform better than the existing methods.

Key words: fully actuated system, lie groups, exponential coordinate, attitude maneuver control, barrier Lyapunov function

CLC Number:

V448.2

Ming LU, Xueqin CHEN, Fan WU, Xibin CAO. Attitude maneuver control of spacecraft based on second⁃order fully actuated system under attitude constraints[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628958-628958.

Figures/Tables 9

Table 1

Attitude forbidden region

名称	禁止方向 $v i T$	限制角 $θ i$ /（º）
AF 1	［0.183，-0.983，-0.036］	30
AF 2	［0，0.707，0.707］	25
AF 3	［-0.853，0.436，-0.286］	25
AF 4	［0.122，-0.140，-0.983］	20

Table 1

Fig.1

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Table 2

Comparison of control performance

控制器	稳态误差 $Q e$	稳态误差 $ω / (r a d ⋅ s - 1)$	控制能耗EFF
本文	±1.28×10^-5	±1.53×10^-6	251.58
文献［25］	±2.32×10^-4	±1.90×10^-5	665.33

Table 2

References 25

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Attitude maneuver control of spacecraft based on second⁃order fully actuated system under attitude constraints

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