Dynamical sliding mode for flexible spacecraft attitude control

DOI编号  10.7641/CTA.2018.70863
2018,35(10):1430-1435

 作者 单位 邮编 朱庆华 哈尔滨工业大学 150006 董瑞琦 哈尔滨工业大学（深圳） 518000 马广富 哈尔滨工业大学（深圳）

本文采用滑动模态控制方法对挠性航天器设计了姿态镇定控制律. 首先, 建立了挠性航天器的数学模型. 其中, 挠性航天器的运动学方程采用姿态四元数描述. 然后, 通过引入动态切换函数, 设计挠性航天器的动态滑模姿态控制律. 该控制律能对滑模姿态控制律中由符号函数项引起的抖振进行抑制. 采用Lyapunov方法证明了所设计的动态滑模姿态 控制律能使闭环航天器姿态系统稳定. 最后, 通过数值仿真例子验证了所提出方法的有效性.

In this paper, the sliding mode control technique is adopted to design attitude stable controllers for flexible spacecraft. First, the mathematical model of the flexible spacecraft is constructed. The kinematic equation of the flexible spacecraft is described by quaternion. Then, by introducing the dynamical switching function, an dynamical sliding mode control law is proposed for the flexible spacecraft attitude control. The proposed dynamical sliding mode control law can suppress the chattering raised by the sign function of the control law. Finally, a numerical example is employed to verify the effectiveness of the presented control law.