考虑控制饱和的卫星姿态控制器设计

研究了基于修正罗得里格参数的刚体卫星在控制输入受限时的姿态控制问题。首先提出了一种全状态反馈姿态控制器的设计方案，并通过李亚普诺夫方法证明了闭环系统零平衡点的全局稳定性。然后针对姿态角速率信号不可测量的情形，设计了一种仅依赖修正罗得里格参数信息的输出反馈控制方案。另外，通过在所提出的控制方案中引入双曲正切饱和函数，推导出只需控制参数的选取满足某一限制条件，就能有效地抑制控制输入的饱和问题。仿真结果表明，所设计的控制方案有效、可行。

Satellite Attitude Controller Design Subject to Input Saturation

The problem addressed is the modified rodrigues parameter(MRP)based attitude control for rigid spacecraft subject to control input constraints.First a full state feedback controller is proposed,and the Lyapunov theory is employed to prove the global asymptotic stability of the zero equilibrium points of the closed loop system.Then an output feedback control scheme that is dependent on MRP is designed without angular velocity measurements.On the other hand,by introducing ahyperbolic tangent saturation functi...