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[1]毕显婷,史小平.考虑退绕问题的刚性航天器全局姿态稳定性控制[J].电机与控制学报,2017,21(07):94-98.[doi:10.15938/j.emc.2017.07.013]
 BI Xian-ting,SHI Xiao-ping.Global attitude stabilization of rigid spacecraft considering unwinding problem [J].,2017,21(07):94-98.[doi:10.15938/j.emc.2017.07.013]
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考虑退绕问题的刚性航天器全局姿态稳定性控制(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年07
页码:
94-98
栏目:
出版日期:
2017-07-01

文章信息/Info

Title:
Global attitude stabilization of rigid spacecraft considering unwinding problem
作者:
毕显婷 史小平
?( 哈尔滨工业大学控制与仿真中心,黑龙江哈尔滨150080)
Author(s):
?BI Xian-ting SHI Xiao-ping
?( Control and Simulation Center,Harbin Institute of Technology,Harbin 150080,China)
关键词:
平方和法 MRP 映射集 全局渐近稳定 退绕问题
Keywords:
sum of squares ( SOS) MRP shadow set global asymptotic stable unwinding problem
分类号:
TP 273
DOI:
10.15938/j.emc.2017.07.013
文献标志码:
A
摘要:
?针对刚性航天器姿态机动问题设计了能够有效减小能量损耗的非线性状态反馈控制器。 由于修正罗德里格斯参数( modified rodrigues parameter,MRP) 原始集在特征轴旋转角为± 360°时存在奇异点,而相应的MRP 映射集( shadow set) 的奇异点处于特征轴旋转角为0°。将MRP 原始集与映射集结合起来,实现全局非奇异姿态描述,解决了航天器姿态控制中的退绕( unwinding) 问题。利用平方和( SOS) 方法设计非线性状态反馈控制律,实现航天器全局姿态渐近稳定控制,同时实现更短控制路径,保证了控制过程中特征轴旋转角| Φ | ≤180° 。仿真结果表明了在干扰条件下该控制方法可有效控制航天器姿态稳定,且对能量损耗给出了定量分析结果。
Abstract:
?A nonlinear state feedback controller which can effectively decrease energy consumption was designed for attitude maneuver of rigid spacecraft. Modified Rodrigues Parameter set possesses a singularity as the principal angle of rotation reaches ± 360°,while the singularity of the corresponding shadow set occurs as the principal angle of rotation is 0°. MRP original set was combined with the shadow set for a global non-singularity description,which avoids the unwinding problem in spacecraft attitude control. The nonlinear state feedback control law,which is designed based on sum of squares ( SOS) method,achieves both the global asymptotic stability and also the shorter control path, since the principle angle of rotation is bounded in 180°. Simulation results illustrate that the spacecraft attitude can be stabilized with the designed controller under perturbation and the energy consumption is also analyzed.

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备注/Memo

备注/Memo:
收稿日期: 2016 - 07 - 07
基金项目: 国家自然科学基金( 61074127)
作者简介: 毕显婷( 1988—) ,女,博士,研究方向为航天器姿态控制、非线性时延系统;
史小平( 1965—) ,男,博士,教授,博士生导师,研究方向为飞行器智能控制、复杂系统仿真。
更新日期/Last Update: 2017-08-24