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Rigid spacecraft nonsingular fixed time attitude tracking control method with consideration of actuator limitation

A technology of tracking control and fixed time, applied in attitude control, non-electric variable control, adaptive control, etc., can solve problems that are difficult for designers to know, and achieve the effect of solving singular value problems

Inactive Publication Date: 2019-01-08
ZHEJIANG UNIV OF TECH
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Problems solved by technology

However, the existing finite-time techniques for estimating the convergence time need to know the initial information of the system, which is difficult for the designer to know

Method used

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  • Rigid spacecraft nonsingular fixed time attitude tracking control method with consideration of actuator limitation
  • Rigid spacecraft nonsingular fixed time attitude tracking control method with consideration of actuator limitation
  • Rigid spacecraft nonsingular fixed time attitude tracking control method with consideration of actuator limitation

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Embodiment Construction

[0086] The present invention will be further described below in conjunction with the accompanying drawings.

[0087] refer to Figure 1-Figure 6, a non-singular fixed-time attitude tracking control method for a rigid-body vehicle considering the problem of limited actuators, the control method comprising the following steps:

[0088] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0089] 1.7 The kinematic equation of the rigid aircraft system is:

[0090]

[0091]

[0092] where q v =[q 1 ,q 2 ,q 3 ] T and q 4 are the vector part and the scalar part of the unit quaternion respectively and satisfy q 1 ,q 2 ,q 3 are the values ​​mapped on the x, y, and z axes of the space Cartesian coordinate system; respectively q v and q 4 Derivative of ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

[0093] ...

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Abstract

The invention discloses a rigid spacecraft nonsingular fixed time attitude tracking control method with consideration of actuator limitation. Aiming at a rigid spacecraft attitude tracking problem with concentrated uncertainty, a nonsingular fixed time sliding mode surface is designed, thus, fixed time convergence of states is guaranteed, and a singular value problem is solved; a function of neural network approximation total uncertainty is introduced, and a nonsingular fixed time controller is designed. The method realizes control of attitude tracking error and angular velocity error fixed time uniform ultimate boundedness of a spacecraft system under factors of external disturbance, uncertainty of rotational inertia, actuator saturation and fault.

Description

technical field [0001] The invention relates to a non-singular fixed-time attitude tracking control method for a rigid-body aircraft considering the problem of limited actuators, in particular to a rigid-body aircraft attitude tracking method with external disturbances, uncertain moment of inertia matrix, saturation and failure of actuators. Background technique [0002] Rigid aircraft attitude control systems play an important role in the healthy and reliable motion of rigid aircraft. In the complex aerospace environment, the attitude control system of rigid aircraft will be affected by various external disturbances and the aging and failure of rigid aircraft during long-term continuous missions. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and actuator failures; in addition, the rigid aircraft also has an uncertain moment of inertia matrix, so control saturation is also a common problem for aircraft. To sum...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/027G05B13/042G05D1/0808
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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