| Citation: | WANG Qing, GONG Ligang, DONG Chaoyanget al. Spacecraft attitude passivity control based on PCH model[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(6): 1061-1071. doi: 10.13700/j.bh.1001-5965.2016.0414(in Chinese)
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For the spacecraft attitude control problem in the presence of disturbance torques, a passivity control scheme based on port-controlled Hamiltonian (PCH) system model was proposed from the perspective of energy. By writing the attitude control system in a PCH form and adding the state related to integral of attitude error, the interconnection and damping assignment passivity-based control (IDA-PBC) method was then utilized to design the controller and provide the closed-loop system with desired internal interconnection structure and energy dissipativity properties. The proposed control scheme can guarantee input-to-state stability of closed-loop system. The actuator dynamics was then considered and backstepping control scheme was utilized to compensate for control command. Combined with command filtering technique, the computation of higher order derivatives of virtual control was avoided and uniform ultimate boundedness of the closed-loop system was proved theoretically. Simulation results validate the performance advantage of the proposed control scheme over that based on passivity alone.
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