Robust Adaptive Variable Structure Control of Spacecraft Under Control Input Saturation
Robust Adaptive Variable Structure Control of Spacecraft Under Control Input Saturation
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DOI：
10.2514/2.4704
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发表时间：
2001
影响因子：
2.6
通讯作者：
J. Boskovic;Sai-Ming Li;R. Mehra
中科院分区：
文献类型：
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作者：
J. Boskovic;Sai-Ming Li;R. Mehra
本文提出了两种在控制输入饱和、参数不确定性和外部扰动存在的情况下航天器鲁棒镇定的全局稳定控制算法。该控制算法基于变结构控制设计，具有以下特点：1)对有界外部扰动和参数不确定性的快速准确响应；2)控制输入饱和的显式计算；3)计算简单和直接整定。我们对所得到的闭环系统进行了详细的稳定性分析。稳定性证明是基于类Lyapunov分析和航天器动力学的四元数表示的性质。研究还表明，所提出的控制器的自适应版本大大简化了稳定性分析，并改善了整体响应。我们还包括数值仿真来说明使用所提出的控制器所获得的航天器性能。
In this paper we propose two globally stable control algorithms for robust stabilization of spacecraft in the presence of control input saturation, parametric uncertainty, and external disturbances. The control algorithms are based on variable structure control design and have the following properties: 1 ) fast and accurate response in thepresenceofbounded external disturbancesand parametricuncertainty;2 )explicit accounting forcontrol input saturation; 3 ) computational simplicity and straightforward tuning. We include a detailed stability analysis for the resulting closed-loop system. The stability proof is based on a Lyapunov-like analysis and the properties of the quaternion representation of spacecraft dynamics. It is also shown that an adaptive version of the proposed controller results in substantially simpler stability analysis and improved overall response. We also include numerical simulations to illustrate the spacecraft performance obtained using the proposed controllers.