Spacecraft maneuvers via singularity-avoidance of control moment gyros based on dual-mode model predictive control
Spacecraft maneuvers via singularity-avoidance of control moment gyros based on dual-mode model predictive control
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DOI：
10.1109/taes.2015.130715
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发表时间：
2015-10
影响因子：
4.4
通讯作者：
Jiawei Zhang;Kemao Ma;Guizhi Meng;S. Tian
中科院分区：
文献类型：
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作者：
Jiawei Zhang;Kemao Ma;Guizhi Meng;S. Tian
研究了采用单框架控制力矩陀螺作动器的刚性航天器姿态控制问题。将航天器与SGCMGs作为一个整体系统，充分考虑了SGCMGs与航天器的联合动力学。将SGCMGs的奇异性问题转化为状态约束和输入约束问题，充分利用了SGCMGs的作动能力。为了保证实时计算的准确性，采用高斯伪谱法和顺序二次规划方法求解系统的姿态路径规划。考虑到外部扰动的不确定性和惯性矩阵的估计误差，采用非线性模型预测控制设计了系统的反馈控制。最后，采用双模模型预测控制来保证系统的稳定性，给出了H8控制器和线性化系统的估计超椭球吸引区域。仿真结果表明所设计的控制器具有良好的跟踪性能和鲁棒性。文中给出的建模方法和控制方法为解决SGCMGs的奇异性问题提供了一种方法。
Attitude control is investigated for a rigid spacecraft using single gimbal control moment gyros (SGCMGs) as actuators. By taking spacecraft and SGCMGs as an integrated system, the combined dynamics of SGCMGs and spacecraft are fully considered. The singularity problem of the SGCMGs is converted into the problem of state constraints and input constraints, and by so doing, the actuation capacity of the SGCMGs is fully utilized. To ensure accurate real-time computation, the Gauss pseudospectral and sequential quadratic programming methods are used to solve the attitude path planning of the system. Considering the uncertainties of the external disturbances and the estimation error of the inertia matrix, feedback control of the system is designed by using nonlinear model predictive control. Finally, dual-mode model predictive control is used to ensure the stability of the system, and the H8 controller and the estimated hyperellipsoid region of attraction of the linearized system are given. Simulation results show good tracking performance and robustness of the designed controller. The modeling method and the control method given in the paper provide a solution to the singularity problem of the SGCMGs.