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Method for controlling stability of tethered combination under full-state constraint

A stable control method and state-constrained technology, which are applied in the aerospace field to achieve high-precision stable control and improve control performance.

Active Publication Date: 2022-03-25
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a method for controlling the stability of the rope assembly under full-state constraints, aiming at solving the problem of full-state constraints in the system, That is, the fast and stable control problem under both position and velocity constraints
Aiming at the existence of multiple uncertainties in the tether assembly system, an adaptive neural network scheme is designed to achieve a fast and accurate estimation of the total uncertainty of the system; secondly, considering the generalized position and velocity constraints of the system, the design obstacle Lyapunov Function (Barrier Lyapunov Function, BLF) to solve the problem of full state constraints; then, adopt the backstepping method to design a robust adaptive controller to ensure the fast and high precision of the rope system in the presence of state constraints and various uncertainties Stable control; finally Lyapunov stability proof for the designed controller

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  • Method for controlling stability of tethered combination under full-state constraint
  • Method for controlling stability of tethered combination under full-state constraint
  • Method for controlling stability of tethered combination under full-state constraint

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Embodiment Construction

[0095] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0096] A stability control method for a tether assembly under full-state constraints, comprising the following steps:

[0097] Step 1: Establish an obstacle Lyapunov function under state constraints;

[0098] Step 1-1: According to the Euler-Lagrangian equation, the dynamic equation of the tether assembly system after capture is established as follows:

[0099]

[0100] Where q=[α,β,l] T ∈ R 3 is the generalized position coordinates of the system, where α, β, l are the in-plane angle, out-of-plane angle and length of the tether, respectively; are the generalized position (including in-plane angle, out-of-plane angle and tether length), velocity and acceleration variables of the system respectively; τ=[τ α ,τ β ,τ l ] T ∈ R 3 is the generalized force; M(q)∈R 3×3 is a positive definite symmetric matrix, is the Coriolis force matrix, G(q)∈R ...

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Abstract

The invention discloses a stability control method for a tethered combination under full-state constraint, and aims to solve the problem of quick and stable control of a system under full-state constraint, namely limited position and speed. Aiming at a plurality of uncertainty factors existing in the tethered combination system, designing an adaptive neural network scheme, and realizing rapid and accurate estimation of the total uncertainty of the system; secondly, respectively considering the generalized position and speed constraint of the system, and designing a barrier Lyapunov Function (BLF) to solve the problem of full-state constraint; then, designing a robust adaptive controller by adopting a backstepping method, and ensuring rapid, high-precision and stable control of the tethered combination system in the presence of state constraints and various uncertainties; and finally, carrying out Lyapunov stability proving on the designed controller. According to the invention, the position and speed of the assembly system can be ensured to be always within a constraint range, and the rapid, high-precision and stable control of the tethered assembly system under the existence of various uncertainties can be realized.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a method for stabilizing a tether assembly. Background technique [0002] Recently, many countries have carried out a lot of research on space cooperative target capture and achieved a series of fruitful results, but the control theory and technology for unstable non-cooperative target capture are still not perfect. [0003] The space tether capture device is a new type of space assembly composed of a platform and a target spacecraft connected by a flexible tether, and it is an effective tool to achieve unstable non-cooperative target capture. After the space tether spacecraft captures the unstable target, it will form a space tether assembly with the target, and it will be in a state of high-speed rotation instability. Stability control of it is a necessary prerequisite for subsequent fine operations such as orbital garbage cleaning and drag removal. [0004] At ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 沈刚辉黄攀峰张帆马志强张夷斋
Owner NORTHWESTERN POLYTECHNICAL UNIV
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