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针对分离模块航天器虚拟对接这一关键技术,从航天器姿态控制的角度设计了一种鲁棒自适应协同控制器,该控制器容许模块存在转动惯量不确定及受空间摄动干扰等因素,利用模块间无线通信将主模块的状态信息引入从模块控制器中,从而实现了主从模块协同虚拟对接。采用修正的罗德里格斯参数描述模块的姿态,将虚拟对接的姿态控制分为2个过程,分别给出每个过程期望姿态的解算方法。将转动惯量不确定性和空间摄动干扰作为整体分析,利用滑模控制思想分别为主从模块设计了鲁棒自适应控制器,并基于Lyapunov稳定性理论给出控制器的稳定性证明,最后的仿真结果验证了该控制器的有效性。
Aiming at the key technology of virtual docking of spacecraft with separate module, a robust adaptive cooperative controller is designed from the viewpoint of spacecraft attitude control. The controller allows the module to have factors such as uncertain moment of inertia and space perturbation, By using the wireless communication between modules, the state information of the main module is introduced into the slave module controller so that the master-slave module cooperates with the virtual docking. The modified Rodrigues parameters are used to describe the attitude of the module. The attitude control of the virtual docking is divided into two processes, and the solutions of the expected attitude of each process are given respectively. Taking the uncertainty of moment of inertia and the perturbation of space perturbation as a whole analysis, a robust adaptive controller is designed for the master-slave module by using the sliding mode control theory. The stability of the controller is proved based on the Lyapunov stability theory. Finally, The simulation results verify the effectiveness of the controller.