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[1]刘海龙,史小平.对非合作目标逼近的非奇异终端滑模控制[J].电机与控制学报,2016,20(06):109-116.[doi:10. 15938 / j. emc. 2016. 06. 014]
 LIU Hai-long,SHI Xiao-ping.Nonsingular terminal sliding mode control for approach to non-cooperative target[J].,2016,20(06):109-116.[doi:10. 15938 / j. emc. 2016. 06. 014]
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对非合作目标逼近的非奇异终端滑模控制(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
20
期数:
2016年06
页码:
109-116
栏目:
出版日期:
2017-03-08

文章信息/Info

Title:
Nonsingular terminal sliding mode control for approach to non-cooperative target

作者:
刘海龙 史小平
( 哈尔滨工业大学 控制与仿真中心,黑龙江 哈尔滨 150001)
Author(s):
LIU Hai-long SHI Xiao-ping
( Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China)
关键词:
非合作目标 相对运动 输出反馈 非奇异终端滑模 扩张状态观测器
Keywords:
non-cooperative target relative motion output feedback nonsingular terminal sliding mode extended state observer
分类号:
V 448. 2
DOI:
10. 15938 / j. emc. 2016. 06. 014
文献标志码:
A
摘要:
针对失控慢速翻滚非合作目标终端逼近过程的六自由度控制问题进行研究。首先,建立适 用于任意偏心率的相对轨道和姿态动力学模型。其次,将系统的外部扰动、模型不确定性及系统非 线性项统一表示为“总扰动项”,并基于扩张状态观测器的相关理论,设计用以获得“总扰动项”估 计值的扩张状态观测器。在此基础上,利用非奇异终端滑模控制理论,设计仅需相对位置和姿态测 量信息的非奇异终端滑模输出反馈控制器。基于 Lyapunov 理论证明了系统稳定性。所设计控制 器具有模型独立的特点,克服了航天器动力学参数的不确定性,并且可在有限时间内跟踪期望轨 迹。最后,通过数值仿真验证了控制器的正确性和有效性。
Abstract:
The problem of final approach to a non-cooperative tumbling target was researched. The rela-tive orbit and attitude dynamics model with arbitrary eccentrics was established. Then,the system’s ex-ternal disturbance,model uncertainty and the system nonlinear term were expressed as total disturbance. Based on the theory of extended state observer ( ESO) ,ESO was designed to estimate the total disturb-ance. Furthermore,by applying the nonsingular terminal sliding mode control method,the nonsingular terminal sliding mode control law was designed,which just needs the relative position and attitude meas-urement information. The stability of the control law was demonstrated via a Lyapunov analysis. The de-signed controller is model independent,which overcomes the problem of unknown dynamics parameters and can track the desired trajectory in finite time. The numerical simulation shows the effectiveness of the controller.

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备注/Memo

备注/Memo:
收稿日期: 2015 - 09 - 12
基金项目: 国家自然科学基金( 61203191) ; 航空科学基金( 20140177006)
作者简介: 刘海龙( 1987—) ,男,博士研究生,研究方向为飞行器控制、非线性控制等;
史小平( 1965—) ,男,博士,教授,研究方向为系统仿真、飞行器控制等。
更新日期/Last Update: 2016-08-20