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清华大学学报(自然科学版)  2018, Vol. 58 Issue (3): 311-316    DOI: 10.16511/j.cnki.qhdxxb.2018.25.013
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考虑控制受限的近距离星间相对姿轨耦合控制
陶佳伟, 张涛
清华大学 自动化系, 北京 100084
Coupled control of relative position and attitude for spacecraft proximity operations with input constraints and parameter uncertainties
TAO Jiawei, ZHANG Tao
Department of Automation, Tsinghua University, Beijing 100084, China
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摘要 针对航天器交会对接近距离段的相对姿轨耦合控制问题,考虑存在参数不确定性、外部干扰以及控制受限,该文提出了一种考虑控制受限的鲁棒自适应控制方法。利用自适应控制技术估计模型参数的不确定性及外界干扰上界,有效地提高了控制系统的鲁棒性。同时通过引入辅助饱和分析系统来补偿执行机构的饱和非线性,进而满足执行机构的幅值受限要求,确保执行机构饱和受限约束条件下跟踪误差的最终一致有界性,并采用Lyapunov方法严格证明了闭环系统的全局稳定性。最后通过数值仿真验证了控制方法的有效性。
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陶佳伟
张涛
关键词 相对姿轨耦合控制控制受限鲁棒自适应控制    
Abstract:An coupled control strategy was developed for proximity operations of spacecraft formation flying which tabes into account the unknown but bounded disturbance, parametric uncertainties and actuator saturation. An auxiliary system is used to compensate for the effects of input constraints. The auxiliary system states are applied to the control design and stability analysis. The system was an adaptive updating technique that does not need to know the system parameters and the unknown bound of the external disturbance in advance Lyapunov theory shows that this controller guarantees uniform ultimate boundedness of all the signals in the closed-loop system and that the tracking errors will converge to a small neighborhood of the origin. Finally, a six degree of freedom simulation demonstrates the effectiveness of this control law compared to an approach that does not consider actuator saturation.
Key wordscoupled control spacecraft formation    input constraint    robust adaptive control
收稿日期: 2017-05-16      出版日期: 2018-03-14
ZTFLH:  V448.2  
基金资助:国家自然科学基金资助项目(61673239)
通讯作者: 张涛,教授,E-mail:taozhang@tsinghua.edu.cn     E-mail: taozhang@tsinghua.edu.cn
作者简介: 陶佳伟(1989-),男,博士研究生。
引用本文:   
陶佳伟, 张涛. 考虑控制受限的近距离星间相对姿轨耦合控制[J]. 清华大学学报(自然科学版), 2018, 58(3): 311-316.
TAO Jiawei, ZHANG Tao. Coupled control of relative position and attitude for spacecraft proximity operations with input constraints and parameter uncertainties. Journal of Tsinghua University(Science and Technology), 2018, 58(3): 311-316.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2018.25.013  或          http://jst.tsinghuajournals.com/CN/Y2018/V58/I3/311
  图1 相对轨道
  图2 相对姿态
  图3 相对速度
  图4 相对角速度
  图5 X 轴控制力
  图6 Y 轴控制力
  图7 Z 轴控制力
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