Anti-unwinding sliding mode attitude maneuver control method for rigid body spacecraft based on mrp parameters

Abstract

The invention discloses a rigid body spacecraft based on MRP parameters and a rigid body spacecraft anti-unwinding sliding mode attitude maneuver control method. The method includes the following steps: S1. Establishing a rigid body spacecraft attitude maneuver error dynamic equation based on MRP parameters; S2, using the hyperbolic sine function to construct the sliding mode function, so that the sliding mode surface includes two equilibrium points; S3, using the Lyapunov stability theory, designing an anti-unwinding sliding mode attitude maneuver control law based on MRP parameters; step S4: The anti-unwinding sliding mode attitude maneuver control law is applied to the tracking control of rigid body spacecraft to avoid unwinding of the spacecraft. The anti-unwinding sliding mode attitude maneuver control method designed by the invention can ensure that the closed-loop system has anti-unwinding attitude control and good stability, and the rigid-body spacecraft has no unwinding phenomenon during the attitude maneuvering process.

Description

technical field [0001] The invention relates to an anti-unwinding sliding mode attitude control method, in particular to an anti-unwinding sliding mode attitude maneuver control method for a rigid body spacecraft based on Modified Rodriguez (MRP) parameters. Background technique [0002] In the traditional attitude control algorithm, for some initial attitude values, the spacecraft may unwind during the attitude maneuver process, that is, the spacecraft can reach the desired attitude by rotating around a fixed axis by an angle less than π, but the rotation angle The phenomenon that the desired attitude can only be reached when the angle is greater than π. At present, there are very few results on anti-unwinding attitude control, and the existing anti-unwinding attitude control laws do not give a strict mathematical proof that the closed-loop system has anti-unwinding performance. Contents of the invention [0003] Aiming at the problem of static-static attitude maneuver c...

AI Technical Summary

Problems solved by technology

[0002] In the traditional attitude control algorithm, for some initial attitude values, the spacecraft may unwind during the attitude maneuver process, that is, the spacecraft can reach the desired attitude by rotating around a fixed axis by an angle less than π, but the rotation angle The phenomenon that the desired attitude can only be reached at an angle greater than π

At present, there are very few results on anti-unwinding attitude control, and the existing anti-unwinding attitude control laws do not give a strict mathematical proof that the closed-loop system has anti-unwinding performance

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