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卫星等刚体的姿态控制已在空间飞行器以及航天机器人等方面有着越来越广泛的应用。文章针对角速度不确定的卫星姿态跟踪问题,用非线性自适应方法进行控制规律设计。首先建立飞行器的运动学和动力学模型,分析其动力学特性及系统可控性,再基于李亚普诺夫稳定性理论,进行控制规律的设计,采用自适应方法对卫星实现姿态跟踪,仿真结果表明飞行器的姿态和角速度跟踪误差均满足渐进收敛,验证了策略的可行性。
Satellite and other rigid body attitude control has been more and more widely used in spacecraft and space robot. Aiming at the satellite attitude tracking problem with uncertain angular velocity, the article designs the control law by using the nonlinear adaptive method. Firstly, the kinematics and dynamics model of the aircraft is established, its dynamic characteristics and system controllability are analyzed. Based on the Lyapunov stability theory, the control law is designed and the attitude tracking is realized by the adaptive method. The simulation results show that The attitude and angular velocity tracking errors of the aircraft both satisfy the asymptotic convergence and verify the feasibility of the strategy.