Input shaping and variable structure control for simultaneous precision positioning and vibration reduction of flexible spacecraft with saturation compensation
Input shaping and variable structure control for simultaneous precision positioning and vibration reduction of flexible spacecraft with saturation compensation
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DOI：
10.1016/j.jsv.2008.03.068
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发表时间：
2008-11
影响因子：
4.7
通讯作者：
Q. Hu
中科院分区：
文献类型：
--
作者：
Q. Hu
研究了带柔性附件的在轨航天器的鲁棒姿态控制和振动抑制问题。航天器由一个刚体和两个柔性附件组成，柔性航天器的有限维表示是任意阶的。结合输入整形技术的鲁棒非线性变结构控制（VSC）策略研究了执行器饱和极限下的俯仰角控制和弹性振动抑制。更特别的是，输入整形器在反馈回路外实现，为参考模型设计，实现了残余振动的精确消除；对于反馈回路，设计变结构控制器使闭环系统在参数不确定性、外部干扰和执行器饱和的情况下表现为具有输入整形器的参考模型。为了防止输入饱和对系统性能的破坏，还为变结构姿态控制系统设计了饱和补偿器。在姿态控制器的合成中，只使用俯仰角及其导数。仿真结果表明，在闭环系统中，尽管存在不确定性和外界干扰，但仍能实现俯仰角控制和弹性模态稳定。
This paper treats the question of simultaneous robust attitude control and vibration suppression of orbiting spacecraft with flexible appendages. The spacecraft consists of a rigid body and two flexible appendages and the finite dimensional representation of the flexible spacecraft is assumed to be of arbitrary order. Robust nonlinear variable structure control (VSC) strategy integrated with input shaping technique is concerned for the pitch angle control and elastic vibration suppression under actuator saturation limit. More specially, the input shaper is implemented outside of the feedback loop, which is designed for the reference model and achieves the exact elimination of residual vibration; while for the feedback loop, the variable structure controller is designed to make the closed-loop system behave like the reference model with the input shaper in the presence of parametric uncertainty, external disturbances and actuator saturation. To prevent the presence of input saturation from destroying the system performance, a saturation compensator is designed as well for the variable structure attitude control system. For the synthesis of the attitude controller, only the pitch angel and its derivative are used. Simulation results are presented which show that in the closed loop, pitch angel control and elastic mode stabilization are accomplished in spite of uncertainty and external disturbance.