基于退步控制的姿态跟踪控制律的设计

退步控制是一种有效设计级联系统控制律的方法,而基于单位四元数的刚体姿态方程就是一种典型的级联系统。文章针对恒值干扰力矩作用下的刚体姿态跟踪控制问题,基于退步控制方法设计出一种含积分项的刚体姿态控制律,控制律中引入积分项是为了消除恒值干扰力矩产生的恒值偏差;并通过在李亚普诺夫函数中引入交叉项证明了控制律的全局稳定性;最后通过数值仿真验证了控制律。

Backstepping Design of Attitude Tracking Control Law

Backstepping control scheme was an effective way to design control laws of a cascade system.Quaternion-based attitude equations of a rigid body was a typical cascade system.For the rigid-body attitude tracking control problem with influence of constant disturbance torques,the backstepping control method was used to design a quaternion-based tracking control law for a rigid body with integral terms,which were used to reduce steady-state errors caused by constant disturbance torques.Then the global stability of the control law was also achieved by adding of cross terms in Lyapunov candidate function.The control law is validated by simulations.