基于扩张状态观测器的航天器时延状态反馈控制
发布时间：2018-09-02 06:13
【摘要】：研究了刚性航天器的时延姿态稳定控制问题。首先建立了基于修正罗德里格斯参数(modified rodrigues parameters,MRPs)的航天器非线性状态模型,具有确定上界的时延项在状态反馈控制律中体现。通过构造Lyapunov-Krasovskii泛函进行稳定性分析,由此得到保证系统渐近稳定的线性矩阵不等式,依此设计状态反馈控制系数矩阵。考虑到航天器三轴间的耦合非线性项,利用扩张状态观测器(extended state observer,ESO)方法,设计了二阶非线性扩张状态观测器,以获得航天器系统内部状态向量并用于状态反馈控制律。为便于工程实际应用,仿真中将MRPs响应输出转换为欧拉角响应,仿真结果表明,本文所设计的控制系统能保证航天器三轴姿态稳定。
[Abstract]:The problem of time delay attitude stability control for rigid spacecraft is studied. Firstly, a nonlinear state model of spacecraft based on modified Rodrigues parameter (modified rodrigues parameters,MRPs) is established. The time-delay term with the upper bound is represented in the state feedback control law. Based on the stability analysis of Lyapunov-Krasovskii functional, a linear matrix inequality (LMI) is obtained to guarantee the asymptotic stability of the system. The state feedback control coefficient matrix is designed accordingly. Considering the coupling nonlinear term between three axes of spacecraft, the second order nonlinear extended state observer is designed by using the extended state observer (extended state observer,ESO) method to obtain the internal state vector of the spacecraft system and use it in the state feedback control law. In order to facilitate practical engineering application, the MRPs response output is converted into Euler angle response by simulation. The simulation results show that the control system designed in this paper can ensure the stability of spacecraft three-axis attitude.
【作者单位】： 哈尔滨工业大学控制与仿真中心;
【分类号】：V448.2
本文编号：2218502
[Abstract]:The problem of time delay attitude stability control for rigid spacecraft is studied. Firstly, a nonlinear state model of spacecraft based on modified Rodrigues parameter (modified rodrigues parameters,MRPs) is established. The time-delay term with the upper bound is represented in the state feedback control law. Based on the stability analysis of Lyapunov-Krasovskii functional, a linear matrix inequality (LMI) is obtained to guarantee the asymptotic stability of the system. The state feedback control coefficient matrix is designed accordingly. Considering the coupling nonlinear term between three axes of spacecraft, the second order nonlinear extended state observer is designed by using the extended state observer (extended state observer,ESO) method to obtain the internal state vector of the spacecraft system and use it in the state feedback control law. In order to facilitate practical engineering application, the MRPs response output is converted into Euler angle response by simulation. The simulation results show that the control system designed in this paper can ensure the stability of spacecraft three-axis attitude.
【作者单位】： 哈尔滨工业大学控制与仿真中心;
【分类号】：V448.2
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