基于MRP的全局稳定的PID刚体姿态控制

doi:CNKI:11-1929/V.2010111.0909.002

Abstract

Abstract: For the attitude control of a rigid spacecraft, a hybrid attitude model with modified Rodrigues parameter (MRP) representation is constructed, based on which a nonlinear proportional-integral-derivative (PID) switching controller with hysteresis is proposed. The proposed controller consists of a feed-forward term, which is used to compensate for the Coriolis torque and the desired maneuver torque, and a feedback term with PID structure, which is used to eliminate the attitude trajectory tracking error. Global asymptotic stability is guaranteed by defining a particular Lyapunov function. The proposed controller is able to achieve global asymptotic tracking of the desired attitude trajectory, avoid singular orientation and unwinding, reject constant disturbance torques and it is robust against measurement noises. Simulation experiments on the large-angle attitude control of a rigid spacecraft are conducted, and the results show the asymptotical tracking property of the proposed controller as well as its avoidance of unwinding phenomenon and its robustness against constant disturbances and measurement noises.

Key words: attitude control, modified Rodrigues parameter, proportional-integral-derivative, hybrid system, hysteresis

CLC Number:

V448

SU Jingya, ZHANG Ruifeng, CAI Kaiyuan. Globally Stabilizing PID Attitude Control of Rigid Body Based on MRP[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(4): 710-719.

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Globally Stabilizing PID Attitude Control of Rigid Body Based on MRP

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