摘要
对于参数不确定和外部扰动的空间飞行器姿态跟踪系统 ,本文提出了采用滑模控制的方法。利用误差四元数建立数学模型 ,选择了一类线性滑动流形 ,并且基于李雅普诺夫函数推导出滑模控制律。理论分析及仿真结果表明 ,本文所求控制律对空间飞行器跟踪系统具有全局稳定性和鲁棒性。
In this paper,a sliding mode control(SMC) method is derived and applied to a spacecraft attitude tracking system in the presence of parameter variations and external disturbances.A class of linear sliding manifolds is selected in terms of the error quaternion.Based on a Lyapunov function candidate,the SMC algorithm is derived.Theoretical analysis and simulation results show that the proposed SMC law is globally stabilizing and insensitive to both parameter variations and external disturbances.
出处
《宇航学报》
EI
CSCD
北大核心
2000年第1期17-22,共6页
Journal of Astronautics
基金
国家自然科学基金和航空基础科学基金
关键词
滑模控制器
误差四元数
飞行器
姿态跟踪系统
Sliding mode control\ Attitude control\ Error quaternion\ Robustness
