|本期目录/Table of Contents|

[1]陶佳伟,张涛. 控制受限的挠性航天器姿态机动控制和振动抑制[J].电机与控制学报,2018,22(03):105-113.[doi:10.15938/j.emc.2018.03.014]
　TAO Jia-wei,ZHANG Tao. Ｒobust adaptive attitude maneuvering and vibration reducingcontrol of flexible spacecraft with input saturation[J].,2018,22(03):105-113.[doi:10.15938/j.emc.2018.03.014]
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
22
期数:
2018年03
页码:
105-113
栏目:
出版日期:
2018-03-15

文章信息/Info

Title:
 Ｒobust adaptive attitude maneuvering and vibration reducingcontrol of flexible spacecraft with input saturation
作者:
 陶佳伟;  张涛
 ( 清华大学 自动化系，北京 100084)
Author(s):
  TAO Jia-wei;  ZHANG Tao
 ( Department of Automation，Tsinghua University，Beijing10084，China)
关键词:
挠性航天器;  姿态机动;  模态观测器;  振动抑制;  输入饱和
Keywords:
 ; flexible spacecraft;  attitude maneuver;  modal observer;  vibration suppression;  input constraint
分类号:
V448.2
DOI:
10.15938/j.emc.2018.03.014
文献标志码:
A
摘要:
 针对挠性航天器姿态机动过程中存在模型参数不确定性、外界干扰、执行机构饱和受限及挠性附件振动及挠性模态不易直接测量的问题，提出了一种鲁棒自适应控制方法。首先构造挠性模态观测器对挠性模态变量及其变化率进行观测，然后，设计自适应控制律来处理系统中的不确定参数和外界干扰上界。最后，通过引入附加的输入误差系统来补偿执行器的饱和非线性，从而保证所设计的控制力矩不超过执行器的幅值上限。基于李雅普诺夫方法证明了所设计的控制器保证了姿态机动过程的稳定性和挠性模态振动的衰减，最后通过数值仿真验证表明所设计的控制器能够严格满足执行机构的饱和约束，在完成姿态机动控制的同时，有效抑制了挠性附件的振动。
Abstract:
 Adaptive control scheme was proposed for attitude maneuver and vibration suppression of flexi-ble spacecraft，in which the parametric uncertainty，external disturbances，unmeasured elastic vibrationand input saturation are taken into account simultaneously． This controller does not need the knowledge ofmodal variables． The absence of measurements of these variables was compensated by appropriate dynam-ics of the controller which supplies their estimates． In addition，the requirements of knowing the systemparameters and the unknown bound of the external disturbance in advance were eliminated by using adap-tive updating technique． For handling the input saturation，
an anti-windup filter was constructed． Usingthe error between the saturation output and the desired control input as the input of the designed auxiliaryfilter，an auxiliary signal was generated to compensate the effect of input saturation and ensure that thecontrol input is bounded． Within the Lyapunov framework，the controller guarantees the stability of theclosed-loop system． Numerical simulation demonstrates vibration suppression and accurate rotational ma-neuver can be accomplished

参考文献/References:

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相似文献/References:

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备注/Memo

备注/Memo:
 收稿日期: 2017 － 07 － 05
基金项目: 国家自然科学基金( 61673239)
作者简介: 陶佳伟( 1989—) ，男，博士研究生，研究方向为航天器姿态与轨道控制;
张 涛( 1969—) ，男，博士，教授，博士生导师，研究方向为非线性控制理论与应用、机器人智能控制等。
更新日期/Last Update: 2018-06-30