摘要
研究了有界干扰输入下的航天器姿态调节控制问题,设计了鲁棒姿态控制算法,使得从干扰力矩输入到系统某一指定的性能输出的L2增益小于任意给定的正常数,从而实现了对干扰力矩的抑制.避开了直接求解使闭环系统L2增益小于给定值的某个相应的Hamilton-Jacobi-Isaacs偏微分方程或不等式的困难.通过选取恰当的Lyapunov函数,分析证明了前述L2增益是小于任意给定的正值,保证了闭环系统的状态轨迹在有界干扰作用下是全局最终一致有界的.仿真结果验证了所提出的鲁棒控制方案的有效性.
We address the problem of spacecraft attitude regulation by taking bounded disturbances into account. A robust attitude control algorithm is proposed, which enables the L2-gain from disturbance input to some prescribed performance output less than any given positive constant, and therefore, achieves disturbance rejection. In general, to make the L2-gain less than some given level, a corresponding Hamilton-Jacobi-Isaacs Partial Differential Equation （HJIPDE） or Inequality （HJIPDI） should be solved. However, to find the solution is very difficult, and sometimes it is impossible to find an analytical solution. We avoid solving the HJIPDE or HJIPDI directly by selecting appropriate Lyapunov function. The L2-gain is proved to be less than some given level using Lyapunov analysis. Moreover, the closed-loop state trajectories are guaranteed to be globally uniformly ultimately bounded （GUUB） in the presence of disturbances. Simulation results demonstrate the effectiveness of the proposed robust control scheme.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2007年第5期712-715,720,共5页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(60674101)
博士点基金资助项目(20050213010)
