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Spacecraft attitude tracking guaranteed performance control method considering completion time constraints

A control method and tracking control technology, applied in attitude control, adaptive control, general control system and other directions, can solve problems such as inability to obtain in advance, achieve strong engineering practical value and theoretical significance, reduce requirements, and strong robustness. Effect

Active Publication Date: 2019-07-16
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention proposes a space vehicle attitude tracking guaranteed energy control method considering the completion time constraint. For the attitude control problem that the system model information cannot be obtained in advance, the time constraint of the completion of the attitude control task is considered. The method of the present invention enables the convergence trajectory of the system to be constrained within the predetermined technical index, realizes energy-guaranteed control, and the system can enter a steady state within a given time constraint, ensuring the smooth completion of subsequent tasks

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  • Spacecraft attitude tracking guaranteed performance control method considering completion time constraints
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Embodiment Construction

[0054] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0055] This embodiment: take the attitude tracking problem of a rigid spacecraft as the implementation object, wherein the inertia matrix of the spacecraft is set to J=diag(40.0,42.5,50.2)kg m 2 , the initial MRP setting is σ(0)=[0.6,-0.5,0.3] T , the initial desired initial MRP is set to σ r (0)=[0.02,-0.03,0.05] T , the initial angular velocity is designed as: ω(0)=[-0.001,0.002,-0.0009] T rad / s, the time-varying desired angular velocity is set to:

[0056] ω r =2×10 -4 ×[0.03sin(πt / 200),0.03sin(πt / 300),0.03sin(πt / 250)] T rad / s

[0057] External disturbances are set to:

[0058] τ d =2×10 -4 ×[sin(0.8t),cos(0.5t),cos(0.3t)] T N·m

[0059] Boundary function α ei (t) and α xi (t) (i=1,2,3) parameters are selected as: T=25, γ=0.6, δ=0.8, α ei,0 = 1.5, α ei,T =0.01, α xi,0 = 1.5 and α xi,T = 0.01.

[0060] The controller parameters are designed a...

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Abstract

The invention relates to a spacecraft attitude tracking guaranteed performance control method considering completion time constraints. For the attitude tracking control problem of a rigid spacecraft,a model-free guaranteed performance attitude control technology without prior knowledge of system information (mainly an inertia matrix) is proposed, robust tracking control on the attitude control system is realized, realization of technical indicators can be ensured, the time constraints of a task can also be considered, and the system state is ensured to complete tracking of desired signals ina given time. The spacecraft attitude tracking guaranteed performance control method considering completion time constraints has the beneficial effects that the system can be ensured to complete convergence before the preset time; the control method has the model-free characteristic, that is, the information of specific model parameters (mainly an attitude inertia matrix) is not needed in the entire control loop, the requirements of control design on the system are reduced, the technical indicators (such as a steady-state error and a transient convergence speed) of the attitude control systemcan be designed in advance, guarantee is carried out through a boundary function in the controller, and strong robustness is achieved.

Description

technical field [0001] The invention belongs to the field of spacecraft robust control, and relates to a spacecraft attitude tracking guaranteed energy control method considering completion time constraints. Background technique [0002] At present, there are many spacecraft attitude control technologies based on model information, such as sliding mode control technology, literature: CongB, Chen Z, Liu X. Improved adaptive sliding mode control for rigid spacecraft attitude tracking [J]. Journal of Aerospace Engineering, 2014, 27(4):04014004.; Optimal control technology, literature: Pukdeboon C.Optimal output feedback controllers for spacecraft attitude tracking[J].Asian Journal of Control, 2012,15(5):1284-1294.; Regression control technology, Literature: Ali I, Radice G, Kim J. Backstepping control design with actuator torque bound for spacecraft attitude maneuver[J]. Journal of Guidance Control Dynamics, 2012,33(1):254-259.etc. These techniques have achieved good results i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042
Inventor 罗建军殷泽阳魏才盛王明明马卫华党朝辉
Owner NORTHWESTERN POLYTECHNICAL UNIV
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