Spin-axis stabilization of a rigid body about an arbitrary direction using Two Reaction Wheels
Spin-axis stabilization of a rigid body about an arbitrary direction using Two Reaction Wheels
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DOI：
10.1109/cdc.2016.7799141
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发表时间：
2016-12
期刊：
影响因子：
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通讯作者：
Kyunam Kim;A. Agogino
中科院分区：
文献类型：
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作者：
Kyunam Kim;A. Agogino
姿态稳定的目的是使物体稳定在一个平衡点附近，通常需要至少三次独立的驱动。然而，在实践中，当三个致动器中的一个在操作过程中发生故障时，或者当控制目标是使物体的自旋轴围绕任意方向稳定时，具有两个致动器的欠驱动系统的控制律变得至关重要，可能具有非零的自旋速度。在这项工作中，我们开发了一个反馈控制律，全局和渐近实现自旋轴稳定的刚体绕任意轴使用只有两个反作用轮。为此，一个修改版本的（z;w）-参数化的目的，描述的刚体姿态运动学。然后，我们介绍了两个反作用轮的机构的动力学，并使用反馈线性化技术开发的控制律，目标是实现自旋轴稳定的机构。我们表明，所开发的控制律是全局和渐近稳定的，通过使用李雅普诺夫直接法结合拉萨尔的不变性原理。该控制器是在仿真中实现的，结果显示其稳定行为。虽然这里提出的控制律是适合于一般的应用，我们主要集中在它的应用，张拉整体料斗的推力方向调节。
The purpose of attitude stabilization is to stabilize a body about an equilibrium point, usually requiring at least three independent actuations. In practice, however, a control law for an underactuated system with two actuators becomes crucial when one of the three actuators fails during operation, or when the control objective is to stabilize the spin axis of the body about an arbitrary direction, possibly with a nonzero spinning velocity. In this work, we develop a feedback control law that globally and asymptotically achieves spin-axis stabilization of a rigid body about an arbitrary axis using only two reaction wheels. For this, a modified version of (z;w)-parameterization is presented for the purpose of describing attitude kinematics of a rigid body. We then introduce dynamics of the body with two reaction wheels and use a feedback linearization technique to develop a control law with the goal of achieving spin-axis stabilization of the body. We show that the developed control law is globally and asymptotically stable by using Lyapunov's direct method in conjunction with LaSalle's invariance principle. This controller is implemented in simulation, and results are presented that show its stabilizing behavior. While the control law presented here is suitable for general applications, we primarily focus on its application to the thrust direction regulation of tensegrity hoppers.