摘要
针对刚体卫星的姿态调节问题,提出了一种自适应滑模控制器设计方法.在卫星转动惯量参数存在不确定性时,设计了基于李亚普诺夫方法的自适应滑模控制律,实现了对惯量参数的实时辨识.同时为克服滑模控制中控制量存在的固有的抖振问题,又提出了采用双曲正切函数代替符号函数的控制方案.最后对卫星姿态控制系统进行了仿真研究.结果表明,所设计的控制方案在实现姿态调节控制的同时,完成了对卫星转动惯量的辨识,并有效地抑制了外部扰动.
To solve the problem of attitude regulation of a rigid satellite, an adaptive sliding mode controller design method is presented. An adaptive sliding mode controller was designed to implement the real-time identification for inertia parameters, and the Lyapunov stability theory was utilized to achieve the stability analysis. A modified control scheme was then given to overcome the inherent chatting problem existing in sliding mode variable structure control by replacing signal functions with hyperbolic tangent functions. Finally, simulations were performed for the satellite attitude control system. Simulation results demonstrate that the control scheme realizes the attitude regulation control and implements the identification for inertia matrix and effective rejection for disturbances.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2008年第9期1366-1369,1373,共5页
Journal of Harbin Institute of Technology
基金
教育部博士点基金资助项目(20050213010)
关键词
姿态调节
自适应滑模控制
修正罗德里格参数
attitude regulation
adaptive sliding mode control
modified rodrigues parameter
