欠驱动刚性航天器姿态的非完整运动规划粒子群算法

研究欠驱动刚性航天器姿态的非完整运动规划问题。众所周知航天器利用三个动量飞轮可以控制其姿态和任意定位，当其中一轮失效，航天器动力学方程表现为不可控。在系统角动量为零的情况下，系统的姿态控制问题可转化为无漂移系统的运动规划问题。基于粒子群优化技术设计了欠驱动刚性航天器姿态的非完整运动规划算法。通过数值仿真，并和遗传算法进行了比较，结果表明该方法对欠驱动航天器姿态运动规划是有效的。

Nonholonomic Motion Planning for the Attitude of Underactuated Spacecraft Using Particle Swarm Optimization

The optimal attitude control of a rigid spacecraft with two momentum wheel actuators is discussed. It is wen-known that spacecraft can be changed its attitude and reorienting by using three momentum wheels. When one of them is failure, the flywheels of the spacecraft can only provide control inputs in two independent directions. The dynamic equations are formulated for the spacecraft under a nonholonomic constraint resulting from the constant time-rate of the total angular momentum of the system, and the control problem of system can be converted to the motion planning problem of the drift-free system. An algorithm of attitude motion planning for an underaetuated spacecraft is proposed by using particle swarm optimization and optimal control theory. The effectiveness of the approach is shown that comparing particle swarm optimization with the genetic algorithm by numerical simulation.