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为提高航天器系统飞行可靠性,研究角速度信息不可测量的刚体航天器有限时间姿态跟踪控制,将姿态导数信息作为未知状态,设计基于改进自适应超螺旋滑模的状态观测器,避免未知状态导数上界需要已知的约束,将姿态运动方程进行扩维,在有限时间内实现对未知角速度估计.同时考虑环境干扰和模型不确定,设计新的有限时间干扰观测器,结合连续自适应方法实现对系统综合不确定上界的估计.在此基础上,基于终端滑模技术,设计有限时间连续姿态跟踪控制器,较好地减小了控制输入抖振,并采用Lyapunov理论证明了观测器和控制器的有限时间稳定性.最后仿真结果说明了所提方法的有效性.
In order to improve the flight reliability of the spacecraft system, the finite-time attitude tracking control of rigid-body spacecraft with unmeasurable angular velocity information is studied. The attitude derivative information is regarded as unknown state, and the state observer based on improved adaptive superhelical sliding mode is designed to avoid the unknown state derivative The upper bound needs the known constraint to expand the attitude motion equation to realize the unknown angular velocity estimation in a finite time.At the same time considering the environmental disturbance and the model uncertainty, a new finite-time disturbance observer is designed and combined with the continuous adaptive method Based on this, a finite-time continuous attitude tracking controller is designed based on the terminal sliding-mode technique, the chattering of the control input is reduced, and the Lyapunov theory is used to prove that the observer and the The finite time stability of the controller.The simulation results show the effectiveness of the proposed method.