引用本文:龚立纲,王青,董朝阳,王昭磊.航天器姿态输出反馈抗干扰跟踪控制[J].控制理论与应用,2017,34(12):1547~1560.[点击复制]
GONG Li-gang,WANG Qing,DONG Chao-yang,WANG Zhao-lei.Output feedback tracking control of spacecraft attitude with disturbance rejection[J].Control Theory and Technology,2017,34(12):1547~1560.[点击复制]
航天器姿态输出反馈抗干扰跟踪控制
Output feedback tracking control of spacecraft attitude with disturbance rejection
摘要点击 2786  全文点击 1592  投稿时间：2016-12-22  修订日期：2017-08-11
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DOI编号  10.7641/CTA.2017.60968
  2017,34(12):1547-1560
中文关键词  姿态控制  抗干扰  输出反馈  扩张状态观测器  互连和阻尼分配
英文关键词  attitude control  disturbance rejection  output feedback  extended state observer  interconnection and damping assignment
基金项目  国家自然科学基金项目(61374012), 航空科学基金项目(2016ZA51011)
作者单位E-mail
龚立纲* 北京航空航天大学自动化科学与电气工程学院 jackstrawberry@126.com 
王青 北京航空航天大学自动化科学与电气工程学院  
董朝阳 北京航空航天大学航空科学与工程学院  
王昭磊 北京航天自动控制研究所  
中文摘要
      针对采用四元数描述的航天器姿态运动模型研究输出反馈抗干扰跟踪控制问题. 首先在姿态运动模型的 基础上, 结合四元数的性质设计扩张状态观测器(extended state observer, ESO)来估计角速度和干扰力矩, 从理论上 保证了ESO中的四元数状态满足范数约束, 并证明了观测误差的收敛性; 进一步利用互连和阻尼分配无源控制 (interconnection and damping assignment passivity-based control, IDA--PBC)理论设计控制律, 通过姿态和角速度误差 状态变换以及引入误差积分项, 使得期望的姿态和角速度误差, 以及积分项误差运动方程中均出现阻尼项, 提高了 系统的抗干扰性能, 最后利用Laypunov函数证明了闭环系统一致最终有界稳定. 仿真结果验证了所设计ESO和 IDA--PBC控制律的有效性.
英文摘要
      Output feedback tracking control of spacecraft attitude motion with disturbance rejection is investigated, where the attitude model is described by the unit quaternion. Firstly, based on the attitude model and combination of the characteristics of the unit quaternion, extended state observer (ESO) is designed to estimate angular velocity and disturbance torque. The unit quaternion state in the ESO is assured to satisfy norm constraint, and convergence of observation error is proved in theory. Furthermore, interconnection and damping assignment passivity-based control (IDA--PBC) theory is utilized to design the control law. By transformation of attitude and angular velocity error state and introduction of error integral terms, the damping terms appear among dynamic equations of desired attitude error, angular velocity error and error integral term. The disturbance rejection performance is then increased. Finally, proof of the uniform ultimate bounded stability of closed system is given within Lyapunov function framework. Simulation results demonstrate effectiveness of the designed ESO and IDA--PBC control law.