Neural network backstepping sliding mode control method and system for spacecraft attitude tracking

Abstract

The invention relates to a neural network backstepping sliding mode control method and system for spacecraft attitude tracking, computer equipment and a storage medium. The method comprises steps of an attitude error kinetic model of the control-limited spacecraft being established by giving an expected attitude and an actual attitude of the spacecraft, and the attitude error kinetic model of thecontrol-limited spacecraft comprising uncertain items; compensating control input limitation in the kinetic model by constructing an auxiliary system, and obtaining a backstepping sliding mode attitude tracking control law of the kinetic model by adopting a backstepping sliding mode algorithm; constructing a neural network approximator taking the estimated value of the uncertain item as an outputquantity; and adopting a neural network approximator to approximate the uncertain items in the kinetic model to obtain a neural network backstepping sliding mode attitude tracking control law of the kinetic model so as to realize attitude tracking of the spacecraft. According to the method, control precision and adaptability of the attitude tracking control system are improved.

Description

technical field [0001] The present application relates to the technical field of automatic control, in particular to a neural network backstepping sliding mode control method, system, computer equipment and storage medium for spacecraft attitude tracking. Background technique [0002] With the development of aerospace technology, more and more space missions are performed by spacecraft, such as satellite surveillance, spacecraft formation flight, on-orbit service, rendezvous and docking, etc. High-precision attitude control, which puts forward higher requirements for the control accuracy of the spacecraft attitude control system. There are more and more factors affecting the accuracy of spacecraft attitude control, mainly including: gravity gradient moment, atmospheric disturbance moment and other space environment disturbance moments, and changes in spacecraft rotational inertia caused by fuel consumption. Because the spacecraft is affected by various disturbance moments a...

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Problems solved by technology

However, the above control method is carried out under some restrictive conditions, for example, it assumes that the system disturbance is bounded and the upper bound is known, and the spacecraft has sufficient control capability for attitude control

However, in the actual dynamic system, it is often difficult to obtain the upper bound of the system disturbance. In addition, the limitation of the control input of the spacecraft is also a common physical constraint of the actuator. stability

[0004] Therefore, the existing spacecraft attitude tracking technology has the problems of low control accuracy and poor adaptability

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