过驱动航天器自适应姿态补偿控制及控制分配

Adaptive attitude compensation integrating with control allocation for over-actuated spacecraft

摘要:

针对过驱动航天器存在执行机构安装偏差及外部干扰问题,提出一种自适应姿态补偿控制策略,应用Lyapunov稳定性理论证明了该控制算法能够在有限时间内实现姿态几乎全局渐近跟踪控制．同时考虑执行机构冗余特性及其控制力矩位置和速度约束,设计最优动态控制分配策略保证控制力矩的平稳性和能量最优．最后将设计的控制器与控制分配策略应用于某型航天器姿态跟踪控制,仿真结果表明该方法对不确定惯量特性具有良好的鲁棒性,对执行器安装偏差与干扰具有较好的补偿控制能力,并验证了该控制分配策略具有较好的能量优化控制能力．

Abstract:

An adaptive compensation control scheme is presented to address the problems of actuator misalignments and external disturbances for over-actuated spacecraft. It is proven by Lyapunov stability theory that the desired attitude trajectories are followed in finite-time. The attitude tracking error is almost globally asymptotically stable. Taking torque position and speed constraint of actuators into consideration, a dynamic control allocation strategy is designed to ensure the energy optimization and stationarity of control torque. With application of the proposed approach to attitude tracking maneuver of a spacecraft, simulation results verifies that good robustness to uncertain inertia parameters is ensured, external disturbances and actuator misalignments are successfully compensated, and the proposed methodology is able to achieve energy optimization.