The Lyapunov function nonlinear attitude control of under-actuated spacecraft

DOI编号  10.7641/CTA.2020.90698
2020,37(10):2093-2097

 作者 单位 E-mail 夏德银 北京控制与电子技术研究所 xia5172@sina.com

摘要：本文提出了一种李亚普诺夫函数的非线性控制方法，用于完成欠驱动刚体航天器(under-actuated rigid spacecraft，UCRS)姿态系统的稳定控制，确保UCRS全程稳定飞行. 首先，根据已知的UCRS系统的动力学模型和利用( , )参数表述的运动学模型，变换得到动力学和运动学的一体化模型；其次，对于有驱动轴输出力矩作用的姿态控制通道，通过分别构造合适的李亚普诺夫函数，推导得到驱动轴控制力矩的耦合等式；再次，通过解算两个驱动轴控制力矩的耦合等式，推导得到驱动轴控制力矩的函数表达式，完成李亚普诺夫函数的非线性控制器(Lyapunov function nonlinear controller，LFNC)设计，确保姿态系统参数的一致收敛；最终，为了检验本文提出的LFNC的性能，进行了数值仿真实验，另外选取了奇异避免的反步控制器(singularity avoidance back-stepping controller，SABSC)进行比较，实验结果表明本文提出的控制器LFNC具有更好的控制性能.

Abstract: This paper proposes a Lyapunov function nonlinear control algorithm, which is used to finish the stability control of the under-actuated rigid spacecraft (UCRS) attitude system and make the UCRS fly steadily throughout the flight. Firstly, according to the known dynamics model and the kinematic model described by using the ( , ) parameters of the UCRS system, the integrated model of dynamic and kinematic is transformed and expressed; secondly, for the attitude control channel with driving shaft output torque, by constructing an appropriate Lyapunov function separately, the coupling equation of driving shaft control torque is derived; thirdly, by solving the coupling equations of two driving shaft control torque, the function expressions of the driving shaft control torque are derived, and the Lyapunov function nonlinear controller (LFNC) design is finished to ensure that the parameters of the attitude system are uniformly convergent; finally, in order to evaluate the performance of LFNC provided by this paper, the numerical simulation experiment is given, and by comparing with the singularity avoidance back-stepping controller (SABSC), the experimental results confirm that LFNC proposed in this paper has better control performance.