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针对航天器相对姿态跟踪过程中严重的非线性及控制器设计的复杂性,建立了基于修正罗德里格斯参数的航天器相对姿态运动学和动力学方程并根据Lyapunov直接法设计了非线性前馈控制律。设计的控制律不仅保证闭环系统稳定,还使得航天器相对姿态跟踪误差快速收敛到零点邻域内。通过在Matlab/Simulink环境下对航天器相对姿态跟踪进行数值仿真,验证了建立模型和设计控制律的有效性。
Aiming at the serious nonlinearity and the complexity of controller design in spacecraft relative attitude tracking, the kinematics and dynamics equations of relative attitude of spacecraft based on modified Rodrigues parameters are established. According to the Lyapunov direct method, Feedback control law. The designed control law not only ensures the stability of the closed-loop system, but also makes the relative attitude tracking error of the spacecraft quickly converge to the zero-point neighborhood. By simulating the relative attitude tracking of spacecraft in Matlab / Simulink environment, the validity of establishing model and designing control law is verified.