Reinforcement learning attitude constraint control method considering installation deviation of actuating mechanism
A technology for installing deviations and actuators, which is used in space navigation equipment, space navigation aircraft, and space navigation aircraft guidance devices.
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[0065] Example 1:
[0066] Step 1: According to the dynamic characteristics of the spacecraft on-orbit attitude maneuvering task, based on the modified Rodrigues parameters, establish a dynamic model of the spacecraft on-orbit attitude maneuvering task considering the actuator installation deviation and interference model, and Algebraically characterize the attitude kinematic constraints in the on-orbit attitude maneuvering task.
[0067] Based on the modified Rodrigues parameters, the dynamic model of the spacecraft on-orbit attitude maneuvering task is established as follows:
[0068]
[0069] Define H(σ bt )for:
[0070]
[0071] in, represents the relative attitude of the controlled spacecraft and the desired attitude, Represents the relative angular velocity of the controlled spacecraft and the desired attitude in the spacecraft body coordinate system, σ bt and The initial value of can be selected as [-0.4622, 0.4074, 0.5100] respectively T and [0,0,0] T ...
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