空间电磁对接的鲁棒非线性轨迹跟踪控制

基于电磁力实现空间对接控制可以避免常规小发动机所固有的推进剂消耗、羽流污染和对接冲击等问题，且性价比高，在小卫星领域应用前景广阔。空间电磁对接控制设计存在强非线性和强耦合性问题，电磁力建模具有不确定性。论文综合应用反馈线性化和鲁棒H∞控制设计方法，采用内外环控制策略，内环采用非线性状态反馈控制实现输入-输出线性化，外环采用鲁棒H∞控制实现对模型乘性不确定性的稳定控制。理论分析与仿真表明，基于内环反馈线性化和外环鲁棒H∞控制的综合设计方法能解决电磁力模型的强非线性问题，对模型不确定性具有较强鲁棒性，轨迹跟踪性能良好。

Robust and Nonlinear Path Tracking Control of Space Electromagnetic Docking

Using electromagnetic force as actuation of space docking can avoid the inherent challenges with traditional small engine,such as propellant consuming,plume contamination and docking impact,and have high performance /cost ratio,so it has favorable applications to small satellites.There are highly nonlinearity and coupled characteristics in electromagnetic docking control,and uncertainty in the electromagnetic force model.Based on the combination of inner loop feedback linearization method with outer loop ro...