| 转动惯量存在不确定性的挠性航天器动态自适应滑模姿态控制 |
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| 作者姓名： | 董瑞琦 吴爱国 张颖 贺亮 |
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| 作者单位： | 哈尔滨工业大学（深圳）机电工程与自动化学院,哈尔滨工业大学（深圳）机电工程与自动化学院,哈尔滨工业大学（深圳）机电工程与自动化学院,上海航天控制技术研究所 |
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| 基金项目： | 深圳市基础研究学科布局项目；广东省自然科学基金项目 |
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| 摘 要： | 针对存在转动惯量不确定性和外部干扰的挠性航天器，首先构造了一个部分状态观测器估计挠性模态，然后设计自适应律对转动惯量不确定性和外部干扰组成的函数的上界进行估计。最后，在设计的观测器和自适应律的基础上，建立了挠性航天器的基于部分状态观测器的自适应滑模姿态稳定控制律。采用Lyapunov方法证明了在挠性航天器存在转动惯量不确定性和外部干扰时, 所设计的自适应滑模姿态控制律能使闭环航天器姿态系统稳定。最后, 通过数值仿真例子验证了所提出方法的有效性。
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| 关 键 词： | 观测器 滑模控制 转动惯量不确定性 自适应律 挠性航天器 |
Dynamic Adaptive Sliding Attitude Control for Flexible Spacecraft with Inertia Uncertainty |
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| Authors: | DONG Ruiqi WU Aiguo ZHANG Ying and HE Liang |
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| Institution: | School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen),School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen) and Shanghai Aerospace Control Technology Institute, Shanghai |
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| Abstract: | Attitude control for a flexible spacecraft with inertia uncertainty and external disturbance is considered. First, a flexible modal observer is constructed to estimate the flexible modal variables. Then, an adaptive law is constructed to estimate the upper bound of a certain function of the inertia uncertainty and external disturbance. Then, based on the constructed flexible modal observer and proposed adaptive law, an adaptive sliding mode control law based on observer is established for the flexible spacecraft with inertia uncertainty. To verify the effectiveness of the presented control law, simulations are performed in the presence of inertia uncertainty. Simulation results show that the proposed control law can attenuate the effect of inertia uncertainty successfully and the attitude states can be stabilized by the proposed sliding mode control laws. |
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| Keywords: | observer sliding mode control inertia uncertainty adaptive law flexible spacecraft |
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