| 一种基于误差四元数的飞行器姿态跟踪系统的滑模控制器 |
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| 引用本文： | 冯璐,龚诚,何长安.一种基于误差四元数的飞行器姿态跟踪系统的滑模控制器[J].宇航学报,2000,21(1):17-22. |
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| 作者姓名： | 冯璐 龚诚 何长安 |
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| 作者单位： | 西北工业大学电子信息学院,西安,710072 |
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| 基金项目： | 国家自然科学基金和航空基础科学基金 |
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| 摘 要： | 对于参数不确定和外部扰动的空间飞行器姿态跟踪系统，本文提出了采用滑模控制的方法。利用误差四元数建立数学模型，选择了一类线性滑动流形，并且基于李雅普诺夫函数推导出滑模控制律。理论分析及仿真结果表明，本文所求控制律对空间飞行器跟踪系统具有全局稳定性和鲁棒性。
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| 关 键 词： | 滑模控制器 误差四元数 飞行器 姿态跟踪系统 |
ERROR QUATERNION-BASED SPACECARFT ATTITUDE TRACKING STYSTEM WITH SLIDING MODE CONTROL |
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| Feng Lu,Gong Cheng,He Changan.ERROR QUATERNION-BASED SPACECARFT ATTITUDE TRACKING STYSTEM WITH SLIDING MODE CONTROL[J].Journal of Astronautics,2000,21(1):17-22. |
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| Authors: | Feng Lu Gong Cheng He Changan |
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| Abstract: | In this paper,a sliding mode control(SMC) method is derived and applied to a spacecraft attitude tracking system in the presence of parameter variations and external disturbances.A class of linear sliding manifolds is selected in terms of the error quaternion.Based on a Lyapunov function candidate,the SMC algorithm is derived.Theoretical analysis and simulation results show that the proposed SMC law is globally stabilizing and insensitive to both parameter variations and external disturbances. |
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| Keywords: | Sliding mode control\ Attitude control\ Error quaternion\ Robustness |
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