对于动态目标的航天器鲁棒PD+快速跟踪控制方法

摘要：针对卫星对于空间动态目标快速、稳定地跟踪、控制目标，同时考虑平台模型的不确定性、外部随机干扰、系统控制力矩与角速度约束等因素，设计PD+控制器实现对于动态目标的快速、稳定跟踪；在经典PD控制器的基础上设计控制添加项使得系统能够按照既定轨迹运动；采用变结构的手段实现系统收敛速度的提升；合理设计Lyapunov函数的结构，引出角速度、四元数的耦合项对V函数进行改良，简化系统稳定性证明与分析的过程；讨论系统最极端情形，通过对V函数上下界的讨论分析系统该情形下的稳定性；最后通过数值仿真验证所提出算法的有效性与优越性.

Robust PD+ Controller with Fast Convergence Rate for Satellite Attitude Tracking a Dynamic Target

Abstract： Considering disturbance torque, model uncertainty and control torque and angular velocity constraint, a novel PD+ attitude controller for satellite smoothly and quickly tracking a dynamic target is proposed in this paper. The standard PD controller is modified and some additional terms are added so that system can converge along the desired trajectory. The variable structure method is implemented to improve system convergence rate. The coupled terms are added in the Lyapunov function and system stability analysis is much simplified. The worst condition is discussed and the lower and upper bands of V function are considered to ensure the global stability under all conditions. The numerical simulation results are demonstrated to show the effectiveness and superiority of the proposed controller.