Sliding mode attitude control using momentum exchange device
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摘要: 研究一种基于修正罗德里戈参数的考虑执行机构特性的飞行器滑模控制律.建立结合双框架控制力矩陀螺的飞行器姿态动力学模型和基于修正罗德里戈参数的姿态运动学模型;分析模型不确定性以判断其对滑模控制方法的适用性,提出滑动面进而设计相应的滑模控制器,接着结合线性系统理论和李雅普诺夫稳定原理对控制器的参数确定进行了分析;使用蒙特卡罗法数值仿真验证此控制律的效果.结果证明上述控制器可有效完成姿控任务,且控制精确,鲁棒性良好.Abstract: Modified rodrigues parameters(MRP) sliding mode control law was designed considering actuator character. Spacecraft attitude dynamics with double-gimbaled control moment gyro (DGCMG) and kinematics on MRP were founded. The model uncertainties was analyzed so that whether sliding mode control can be used here is known. Then sliding manifold was chosen and the corresponding control law was presented while estimating the parameters of the controller on the base of linear system theory and Lyapunov theory. The Monte Carlo simulation proves that this controller can execute attitude control well, precisely and robustly.
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