刚体航天器姿态跟踪的时变滑模控制(英文) |
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作者单位: | Department of Automatic Control, Beij'ing Institute of Technology, Beijing 100081, China |
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摘 要: | To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error (ISE) of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.
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关 键 词: | 太空船 姿态跟踪控制 时变滑模控制 控制输入约束 遗传算法 |
收稿时间: | 19 October 2007 |
Time-varying Sliding Mode Controls in Rigid Spacecraft Attitude Tracking |
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Authors: | Jin Yongqiang Liu Xiangdong Qiu Wei Hou Chaozhen |
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Institution: | Department of Automatic Control, Beij'ing Institute of Technology, Beijing 100081, China |
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Abstract: | To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consist- ing of the weighted index of squared error (ISE) of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques. |
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Keywords: | attitude tracking control time-varying sliding mode control input constraint genetic algorithm |
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