Spacecraft non-singular adaptive terminal sliding mode attitude-orbit coupling control
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摘要:
为了实现航天器姿态与轨道的同步控制，提出了一种航天器姿态与轨道联合控制的非奇异自适应终端滑模控制律。首先，建立了航天器姿轨耦合运动的对偶四元数模型；其次，提出了一种姿轨联合跟踪控制的非奇异终端滑模控制律，并设计了自适应控制律以改善质量特性不确定性的影响，利用李雅普诺夫函数证明了所提控制律的稳定性；最后，绕飞小行星的跟踪控制仿真算例表明了控制律的有效性。结果表明：所提控制律具有较高的控制精度，能够在有限时间内收敛，仿真过程中不存在奇异点，抑制了质量特性的不确定性对控制的影响，且对滑模的抖振特性有抑制效果。
Abstract:A non-singular adaptive terminal sliding mode control law is proposed to simultaneously control the attitude and orbit of the spacecraft. Firstly, the attitude-orbit coupling dynamic model of the spacecraft with parameter uncertainty is established based on the dual quaternion. Secondly, based on the integrated model of spacecraft, non-singular terminal sliding mode control law is proposed to track the target. Considering the uncertainty of spacecraft quality characteristics, an adaptive control law is designed to further improve the controller effect. The stability of the above control law is proved by the Lyapunov function. Finally, the simulation example of tracking control around the asteroid shows the effectiveness of the control law. The results show that the controller has higher control precision and can converge in limited time. There is no singularity in the simulation. The controller suppresses the influence of the uncertainty of quality characteristics on the control, and the terminal sliding mode chattering characteristics.
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图 1 终端滑模控制位姿跟踪误差
Figure 1. Orbit and attitude tracking error of terminal sliding mode control
图 3 终端滑模控制速度与角速度跟踪误差
Figure 3. Velocity and angular velocity tracking error of terminal sliding mode control
图 4 对照组速度与角速度跟踪误差
Figure 4. Velocity and angular velocity tracking error in comparison group
图 7 自适应终端滑模控制位姿跟踪误差
Figure 7. Orbit and attitude tracking error of adaptive terminal sliding mode control
图 8 自适应终端滑模控制速度与角速度跟踪误差
Figure 8. Velocity and angular velocity tracking error of adaptive terminal sliding mode control
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