基于误差四元数分解的刚体姿态跟踪滑模控制

对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏差的刚体姿态跟踪系统,文章提出了采用滑模控制的方法。利用误差四元数建立数学模型,通过误差四元数分解进行反馈线性化得到指令角加速度;设计滑模控制律,实现指令角加速度跟踪。仿真结果表明,文章所求控制律对刚体姿态跟踪系统具有稳定性和鲁棒性。

Decomposed Error Quaternion-Based Rigid Body Attitude Tracking System with Sliding Mode Control

A sliding mode control(SMC) method was proposed and applied to a rigid body attitude tracking system in the presence of dynamic uncertainties.First,a model of the attitude tracking system was built in terms of the decomposed error quaternion,then feedback linearization was used to obtain the required angular acceleration.The SMC algorithm was proposed to make the angular acceleration of the rigid body track the required angular acceleration.Simulation results show that the proposed SMC law is globally stable and insensitive to the uncertainties and variations in its inertial parameters,and control actuator aligment and external disturbances.