分区四元数姿态控制

张洪华; 关轶峰; 胡锦昌; 王泽国

doi:10.16383/j.aas.2015.c140624

分区四元数姿态控制

doi: 10.16383/j.aas.2015.c140624

1.
中国空间技术研究院北京控制工程研究所北京 100190

基金项目:

国家自然科学基金(61403031)资助

详细信息

作者简介:
张洪华北京控制工程研究所研究员. 1991 年获得北京航空航天大学博士学位. 主要研究方向为挠性航天器控制, 着陆器制导、导航与控制.E-mail: zhanghh502@163.com

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出版历程
- 收稿日期: 2014-09-01
- 修回日期: 2015-02-16
- 刊出日期: 2015-07-20

A Novel Attitude Control Strategy Based on Quaternion Partition

1.
Beijing Institute of Control Engineering, China Academy of Space Technology, Beijing 100190

Funds:

Supported by National Natural Science Foundation of China (61403031)

摘要

摘要: 提出了一种基于分区控制策略的四元数姿态控制律. 其基本思想是基于姿态四元数误差分区设计目标角速度, 由此将问题降阶为一个角速度跟踪问题; 基于不同的角速度跟踪误差, 设计了切换类型的抗干扰姿态控制律. 该控制策略可以使得姿态快速收敛, 并且在合适的参数选择条件之下还能同时满足控制力矩的饱和约束. 通过综合相平面和Lyapunov函数的分析方法严格证明了闭环系统全局收敛的性质. 最后, 通过数值仿真验证了本文提出的控制方案的有效性.
- 分区四元数控制 /
- 姿态控制 /
- 饱和控制 /
- 抗干扰控制
Abstract: A novel controller based on quaternion partition is proposed for controlling rigid-body attitude with constant disturbances. By partitioning the quaternion into different regions, different virtual angular velocities are determined, and the control problem is reduced to tracking these virtual angular velocities. Then, switching laws for angular velocity tracking are also designed depending on the angular velocity tracking errors. The closed-loop system enjoys the property of fast attitude convergence, and the requirement of actuator saturation can also be satisfied through appropriate choice of relevant parameters. By means of phase plane and Lyapunov stability analysis, it is proven that the closed loop is globally convergent. Finally, the effectiveness of proposed method is illustrated by numerical simulations.
- Quaternion partition /
- attitude control /
- actuator saturation /
- disturbance rejection

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参考文献(19)

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