喷嘴为执行机构的空间飞行器基于误差四元数的非线性姿态跟踪控制

研究带喷嘴空间飞行器在姿态跟踪机动时的多轴耦合非线性姿态控制问题。姿态运动学和动力学用误差四元数描述。通过线性变换将误差四元数动力学方程转换成 4个摄动双积分系统 ,并基于此摄动双积分系统设计了开关控制器。由误差四元数及其导数构成的抛物型开关函数决定了控制器中的逻辑。文章考虑了最短的姿态捕获路径、外部干扰抑制、和不确定参数补偿问题。控制器允许力矩矩阵为非对称 ,从而使喷气执行机构的安装有更好的灵活性。由于不需要目标的加速度反馈 ,控制器可用于对机动目标的跟踪。用相平面方法分析了闭环系统的鲁棒稳定性。仿真结果验证了控制方案的可行性

Nonlinear Attitude Tracking Control of a Spacecraft with Thrusters Based on Error Quaternions

The multi axis coupling attitude control of a spacecraft with thrusters for attitude tracking is investigated. The attitude kinematics and dynamics are both described by error quaternions. The four error quaternion dynamic equations are then transformed into four perturbed double integrators via linear transformations. An on off controller is designed based on the perturbed double integrators. The controller is determined by parabolic switching functions of the scalar error quaternion and the transformed vector error quaternions and their rates. The shortest possible acquiring path, external disturbance rejection, parameter uncertainty compensation are also taken into account. A non diagonal jet torque matrix is allowed, which makes the fixing of thrusters more flexible. The controller including no target acceleration feedback is also suitable for acquisition and tracking of maneuvering targets. Stability of the closed loop system is analyzed by means of phase plane methods. Simulation examples are included to illustrate the effectiveness of the control scheme.