Robust Backstepping Sliding Mode Attitude Tracking and Vibration Damping of Flexible Spacecraft with Actuator Dynamics
Robust Backstepping Sliding Mode Attitude Tracking and Vibration Damping of Flexible Spacecraft with Actuator Dynamics
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DOI：
10.1061/(asce)0893-1321(2009)22:2(139
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发表时间：
2009-04-01
影响因子：
2.4
通讯作者：
Zhang, Yizhuo
中科院分区：
文献类型：
--
作者：
Hu, Qinglei;Cao, Jun;Zhang, Yizhuo
针对以压电陶瓷为传感器和作动器的柔性附件航天器，提出了一种双级控制系统的姿态跟踪控制和减振设计方法。在该设计方法中，采用低阶模型分别设计姿态控制系统和振动抑制系统。基于滑模控制和反步控制技术，推导了一种以反作用轮输入电压形式控制航天器姿态运动的姿态控制器，并从实际应用的角度考虑了反作用轮的动力学特性。本文采用滑模技术，通过在刚体处提供虚拟转矩输入，实现在参数变化和扰动下姿态和角速度跟踪误差的渐近收敛；采用反步技术，调节执行器的输入电压，提供所需的转矩。用李雅普诺夫分析证明了其渐近稳定性。此外，还设计了一种自适应姿态控制律，以适应集总扰动的未知上界，从而解除了预先知道扰动上界的限制。为了主动抑制诱导振动，提出了将压电材料作为附加传感器和作动器粘接在柔性附件表面的应变率反馈控制方法。从姿态跟踪和减振水平两方面对混合控制方案的性能进行了评价，并与比例导数和传统SMC进行了比较。分析结果和数值结果都表明了这种混合方法的理论和实际价值。
This paper presents a dual-stage control system design method for the attitude tracking control and vibration stabilization of a spacecraft with flexible appendages embedded with piezoceramics as sensor and actuator. In this design approach, attitude control system and vibration suppression were designed separately using a lower order model. Based on the sliding mode control (SMC) and backstepping technique, a new attitude controller in the form of the input voltage of the reaction wheel is derived to control the attitude motion of a spacecraft, in which the reaction wheel dynamics is also considered from the real applications point of view. Here the sliding mode technique is used to achieve an asymptotic convergence of the attitude and angular velocity tracking errors in the presence of parameter variation and disturbance by providing a virtual torque input at the rigid body while the backstepping technique is used to regulate the input voltage of the actuator to provide the required torque. The asymptotic stability is shown using a Lyapunov analysis. Furthermore, an adaptive version of the proposed attitude control law is also designed for adapting the unknown upper bounds of the lumped disturbance so that the limitation of knowing the bound of the disturbance in advance is released. For actively suppressing the induced vibration, strain rate feedback control methods are presented by using piezoelectric materials as additional sensors and actuators bonded on the surface of the flexible appendages. The performances of the hybrid control schemes are assessed in terms of attitude tracking and level of vibration reduction in comparison to the proportional-derivative and conventional SMC. Both analytical and numerical results are presented to show the theoretical and practical merit of this hybrid approach.