| 欠驱动航天器姿态稳定的分层滑模控制器设计 |
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| 引用本文： | 王冬霞,贾英宏,金磊,周付根,徐世杰. 欠驱动航天器姿态稳定的分层滑模控制器设计[J]. 宇航学报, 2013, 34(1): 17-24. DOI: 10.3873/j.issn.1000-1328.2013.01.003 |
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| 作者姓名： | 王冬霞 贾英宏 金磊 周付根 徐世杰 |
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| 作者单位： | 北京航空航天大学宇航学院制导、导航与控制系，北京 100191 |
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| 基金项目： | 国家自然科学基金(10902003) |
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| 摘 要： | 利用分层滑模控制方法，为带两个控制执行机构的欠驱动刚体航天器的姿态控制系统设计了一种三轴稳定控制器。首先，给出了基于两个推力器的欠驱动航天器的姿态动力学和运动学模型，分析了其模型特点。其次，将子系统的变量进行组合定义成第一层滑模面，利用Filippov等效定理求出等效控制律。然后依次构造出第二层滑模面及第三层滑模面，根据滑模控制原理求出切换控制律，进而得到总的控制量。利用Lyapunov稳定性理论和Barbalat引理及推论证明了各层滑模面的全局渐近稳定性。仿真实验验证了该控制方法的有效性。
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| 关 键 词： | 欠驱动航天器 推力器 分层滑模控制 全局渐近稳定 |
| 收稿时间： | 2011-12-05 |
Hierarchical Sliding-Mode Control for Attitude Stabilization of an Underactuated Spacecraft |
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| WANG Dong-xia , JIA Ying-hong , JIN Lei , ZHOU Fu-gen , XU Shi-jie. Hierarchical Sliding-Mode Control for Attitude Stabilization of an Underactuated Spacecraft[J]. Journal of Astronautics, 2013, 34(1): 17-24. DOI: 10.3873/j.issn.1000-1328.2013.01.003 |
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| Authors: | WANG Dong-xia JIA Ying-hong JIN Lei ZHOU Fu-gen XU Shi-jie |
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| Affiliation: | Department of Guidance, Navigation and Control, School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
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| Abstract: | For an underactuated spacecraft with two control actuators, an attitude controller is proposed based on hierarchical sliding mode control. Firstly, attitude dynamics and kinematics models are introduced and analyzed. Secondly, the first layer sliding surface is defined by the state variables of the underactuated system, and the equivalent controller is obtained by Filippov equivalent theorem. Then, the second|layer sliding surface and the third layer sliding surface are constructed in sequence, and the switching controller is derived by using the sliding mode control theory. Thus the total controller is deduced by the equivalent and switching controller. The global asymptotic stability of all sliding surfaces is proved by using Lyapunov stability theory and Barbalat theory. The simulation results illustrate the feasibility of the proposed control algorithm. |
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| Keywords: | Underactuated spacecraft Thruster Hierarchical sliding mode control Global asymptotic stability |
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