基于广义逆的欠驱动航天器姿态机动控制

黄静; 李传江; 马广富; 刘刚

doi:10.3724/SP.J.1004.2013.00285

基于广义逆的欠驱动航天器姿态机动控制

doi: 10.3724/SP.J.1004.2013.00285

1.
哈尔滨工业大学控制科学与工程系哈尔滨 150001

详细信息

通讯作者:
黄静

计量
- 文章访问数: 2053
- HTML全文浏览量: 59
- PDF下载量: 1125
- 被引次数: 0
出版历程
- 收稿日期: 2011-01-17
- 修回日期: 2012-07-25
- 刊出日期: 2013-03-20

Generalised Inversion Based Maneuver Attitude Control for Underactuated Spacecraft

1.
Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001

摘要

摘要: 针对欠驱动刚体航天器机动控制问题,应用广义逆方法设计了姿态机动控制器. 首先将三轴稳定欠驱动航天器动力学和运动学系统分解为三个子系统, 应用微分几何理论将欠驱动航天器子系统转化为逐点线性形式, 并设计了欠驱动航天器子系统渐近稳定控制器,进一步引入了动态尺度广义逆和摄动零控制向量, 实现了对另外两轴的控制.设计的广义逆姿态控制器保证了整个系统的渐近稳定性, 达到了控制要求. 数值仿真实验结果表明了所设计控制律的有效性.
- 航天器 /
- 欠驱动系统 /
- 姿态机动 /
- 广义逆方法
Abstract: The methodology based on the concept of generalized inversion is investigated for asymptotic stabilization of underactuated rigid body dynamics under two degrees of actuation. Firstly, the underactuated kinematics and dynamics system is partitioned into three subsystems, and the underactuated subsystem is transformed as the point-wise linear form by differential geometry theory and achieves global realisability. Furthermore, with the introduction of dynamically scaled generalized inversion and perturbed null-control vector, a continuous feedback control law is designed to achieve the attitude stabilization of the underactuated spacecraft. Finally, the analytical and simulation results show that the proposed control methodology is effective.
- Spacecraft /
- underactuated system /
- attitude maneuver /
- generalised inverse method

HTML全文

参考文献(1)

[1]

Crouch P E. Spacecraft attitude control and stabilization: applications of geometric control theory to rigid body models. IEEE Transactions on Automatic Control, 1984, 29(4): 321-331[2] Byrnes C I, Isidori A. On the attitude stabilization of rigid spacecraft. Automatica, 1991, 27(1): 87-95[3] Horri N M, Hodgart S. Attitude stabilization of an underactuated satellite using two wheels. In: Proceedings of the 2003 IEEE Aerospace Conference. Los Angles: IEEE Press, 2003. 2629-2635[4] Tsiotras P, Luo J H. Control of underactuated spacecraft with bounded inputs. Automatica, 2000, 36(8): 1153-1169[5] Tsiotras P, Doumtchenko V. Control of spacecraft subject to actuator failures: state-of-the-art and open problems. Journal of the Astronautical Sciences, 2000, 48(2): 337-358[6] Coverstone-Carroll V. Detumbling and reorienting underactuated rigid spacecraft. Journal of Guidance, Control, and Dynamics, 1996, 19(3): 708-710[7] Bajodah A H. Asymptotic perturbed feedback linearisation of underactuated Euler's dynamics. International Journal of Control, 2009, 82(10): 1856-1869[8] Casagrande D, Astolfi A, Parisini T. Global asymptotic stabilization of the attitude and the angular rates of an underactuated non-symmetric rigid body. Automatica, 2008, 44(7): 1781-1789[9] Behal A, Dawson D, Zergeroglu E, Fang Y. Nonlinear tracking control of an underactuated spacecraft. Journal of Guidance, Control, and Dynamics, 2002, 25(5): 979-985[10] Cheon Y J. Spin-axis stabilization of gyroless and underactuated rigid spacecraft using modified rodrigues parameters. In: Proceedings of the 2010 SICE Annual Conference. Taipei, China: IEEE, 2010. 492-496[11] Zhang Bing, Wu Hong-Xin. Asymptotical stabilization of anglular velosity of a rigid spacecraft with two-dimensional complete configuration. Acta Automatica Sinica, 2000, 26(4): 547-551(张兵, 吴宏鑫. 二维完整配置下刚性航天器姿态角速度的渐近镇定. 自动化学报, 2000, 26(4): 547-551)[12] Li Shi-Hua, Tian Yu-Ping. Attitude stabilization of a rigid spacecraft with two controls. Acta Automatica Sinica, 2003, 29(2): 168-174(李世华, 田玉平. 带两控制器刚体飞行器的姿态镇定. 自动化学报, 2003, 29(2): 168-174)[13] Huang Xing-Hong, Xu Shi-Jie. Attitude control of an underactuated spacecraft based on piecewise decoupling method. Journal of Astronautics, 2007, 28(3): 531-534, 556(黄兴宏, 徐世杰. 欠驱动航天器的分段解耦姿态控制. 宇航学报, 2007, 28(3): 531-534, 556)[14] Zheng Min-Jie, Xu Shi-Jie. Backstepping control for attitude control system of an underactuated spacecraft. Journal of Astronautics, 2006, 27(5): 947-951(郑敏捷, 徐世杰. 欠驱动航天器姿态控制系统的退步控制设计方法. 宇航学报, 2006, 27(5): 947-951)[15] Jin Lei, Xu Shi-Jie. Attitude stabilization of an underactuated spacecraft with two reaction wheels. Chinese Space Science and Technology, 2009, 29(2): 8-16(金磊, 徐世杰. 带有两个飞轮的欠驱动航天器姿态稳定控制研究. 中国空间科学技术, 2009, 29(2): 8-16)[16] Wang Yi, Ge Xin-Sheng. Attitude control of an underactuated spacecraft base on center manifold theory. Journal of Beijing Information Science and Technology University (Natural Science Edition), 2010, 25(2): 37-40, 48(王艺, 戈新生. 基于中心流形理论的欠驱动航天器姿态控制. 北京信息科技大学学报(自然科学版), 2010, 25(2): 37-40, 48)[17] Zheng Yan-Qin, Ge Xin-Sheng. Time-varying control method for attitude stabilization control system of underactuated rigid spacecraft. Journal of System Simulation, 2010, 22(4): 951-956(郑彦琴, 戈新生. 欠驱动刚体航天器姿态稳定的时变控制方法. 系统仿真学报, 2010, 22(4): 951-956)[18] Siciliano B, Khatib O. Springer Handbook of Robotics. New York: Springer, 2008[19] Peters J, Mistry M, Udwadia F, Nakanishi J, Schaal S. A unifying framework for robot control with redundant DOFs. Autonomous Robots, 2008, 24(1): 1-12[20] Boyer F, Alamir M. Further results on the controllability of a two-wheeled satellite. Journal of Guidance, Control, and Dynamics, 2007, 30(2): 611-619[21] Bajodah A H. Generalised dynamic inversion spacecraft control design methodologies. IET Control Theory and Applications, 2008, 3(2): 239-251[22] Khalil H K. Nonlinear Systems (Third edition). Upper Saddle River, NJ: Prentice-Hall, 2002. 505-540

施引文献

资源附件(0)

访问统计