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针对刚体航天器的鲁棒姿态控制问题,提出一种改进的自适应滑模控制(ASMC)算法.该算法除了不需要事先知道扰动及系统参数不确定性的上界外,还有效地解决了现有ASMC设计中对切换增益的过度适应问题.该算法具有以下优点:1)自适应的切换增益更接近扰动及参数不确定性的上界,能够产生低抖振的控制信号;2)控制力矩更为平滑,适于工程应用.仿真结果验证了所提出算法的有效性.
In order to solve the robust attitude control problem of rigid spacecraft, an improved adaptive sliding mode control (ASMC) algorithm is proposed, which not only does not need to know the upper bound of disturbance and system parameter uncertainty in advance, There is over-adaptive switching gain in ASMC design. The proposed algorithm has the following advantages: 1) The adaptive switching gain is closer to the upper bound of disturbance and parameter uncertainty to generate low-chattering control signal; 2) The control torque Smoother and suitable for engineering application.The simulation results verify the effectiveness of the proposed algorithm.