Spacecraft Attitude Coordination Control With Angular Velocity and Input Constraints
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摘要:
提出了基于有向图的航天器姿态协同控制算法, 并且系统的角速度和控制输入满足有界性的约束. 当外部扰动存在时, 设计了自适应算法估计扰动的上界, 采用滤波器补偿的方法处理控制输入饱和问题, 并且设计了新的自适应姿态协同控制算法. 对于所设计的控制算法, 给出了稳定性分析, 证明了系统具有几乎全局渐近稳定性. 进一步把控制算法推广到时变通信时滞情况, 当控制器参数满足一定条件时, 仍然能够保证编队系统的几乎全局渐近稳定性. 通过数值仿真, 验证了所提出的控制方案的有效性.
Abstract:The spacecraft attitude coordination control algorithms with directed graph are proposed, and the resulting angular velocity and control input of the system satisfy the boundness constraint. When the external disturbances exist, the adaptive algorithms are designed to estimate the upper bound of the disturbances. The compensation method using the fllters is adopted to deal with the input saturation problem, and the novel adaptive attitude coordination control algorithms are developed. The almost global asymptotical stability of the system with the proposed control algorithms is proven by the use of stability analysis. The control algorithms are further extended to the case of the time-varying communication delays. The almost global asymptotic stability of the system is also guaranteed when the parameters of the controllers satisfy some conditions. The efiectiveness of the control schemes is verifled by numerical simulations.
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Key words:
- Angular velocity constrain /
- input saturation /
- attitude coordination /
- communication delay /
- asymptotical stability
1) 本文责任编委 倪茂林 -
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