Semi-globally input-to-state stable controller design for flexible spacecraft attitude stabilization under bounded disturbances
Semi-globally input-to-state stable controller design for flexible spacecraft attitude stabilization under bounded disturbances
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DOI：
10.1016/j.actaastro.2009.07.012
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发表时间：
2010-02
影响因子：
3.5
通讯作者：
Q. Hu
中科院分区：
文献类型：
--
作者：
Q. Hu
针对存在参数不确定性和外部干扰的挠性航天器姿态机动，推导了半全局输入状态稳定控制律。修正的罗德里格斯参数(MRP)被用作运动学变量，因为它们对于所有可能的旋转都是非奇异的。这种新颖的简单控制是一个比例加导数(PD)型控制器，通过一种特殊的Lyapunov函数构造加上一个符号函数，该函数包含角速度、运动参数、模态变量和交叉状态加权的二次项的和。给出了这种非线性PD型控制律使系统半全局输入-状态稳定的充分条件，使得闭环系统对于在可量化的幅度限制内的任何扰动以及初始条件集都是鲁棒的，如果控制增益设计得当的话。除了新控制器设计的详细推导和所有相关稳定性和姿态收敛证明的严格示意图外，还进行了广泛的仿真研究来验证设计，并给出了结果，以强调与传统控制方案相比，确保闭环系统性能的优势。
Semi-globally input-to-state stable (ISS) control law is derived for flexible spacecraft attitude maneuvers in the presence of parameter uncertainties and external disturbances. The modified rodrigues parameters (MRP) are used as the kinematic variables since they are nonsingular for all possible rotations. This novel simple control is a proportional-plus-derivative (PD) type controller plus a sign function through a special Lyapunov function construction involving the sum of quadratic terms in the angular velocities, kinematic parameters, modal variables and the cross state weighting. A sufficient condition under which this nonlinear PD-type control law can render the system semi-globally input-to-state stable is provided such that the closed-loop system is robust with respect to any disturbance within a quantifiable restriction on the amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. In addition to detailed derivations of the new controllers design and a rigorous sketch of all the associated stability and attitude convergence proofs, extensive simulation studies have been conducted to validate the design and the results are presented to highlight the ensuring closed-loop performance benefits when compared with the conventional control schemes.