摘要
针对低轨道对地凝视小卫星的姿态控制问题,设计了一种鲁棒控制器.首先推导了基于误差四元数和误差角速度的运动学和动力学方程;设计了对地凝视小卫星的鲁棒姿态控制器,并通过Lyapunov方法证明了该控制器的全局稳定性,该控制器由PD控制部分和一个附加部分构成,形式简单,对外界干扰和模型不确定性具有良好的鲁棒性;仿真结果表明,在参数不确定性及外干扰存在时,所设计的控制器能够实现卫星的对地凝视.
To solve the attitude control problem of a staring-imaging satellite, a new robust controller is proposed in this paper. The robust controller which consists of a PD part and an additional term is very simple and is globally convergent in the presence of parameter uncertainty and external disturbances. The convergence is proven by lyapunov method. Simulation results show that the controller is qualified with excellent robustness and satisfactory control effect.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2011年第1期26-30,共5页
Journal of Harbin Institute of Technology
基金
长江学者和创新团队发展计划资助项目(IRT0520)
关键词
对地凝视
鲁棒性
控制器设计
全局稳定
staring image
robust
controller design
globally convergent
