一种非线性姿态系统的渐近解耦控制律

介绍了一种非线性姿态系统的渐近解稳定控制律。从卫星姿态控制的具体问题出发，针对姿态系统模型自身的非线性特点和控制任务要求，将原非线性控制系统变换为一渐近解耦、渐近稳定系统。在三个体轴旋转角速度和三个姿态角都可以得到的前年下，选取姿态角偏差作了新的状态变量，给出角偏差方程解耦时体轴旋转角速度所应满足的一个条件，并通过构造一类稳定的系统，求解出使这个解耦条件渐近成立的非线性反馈稳定控制律。所得到的渐近

An asymptotically decoupling control law for nonlinear attitude systems

Based on the asymptotically decoupling method, a stabilizing control law for a nonlinear satellite's attimate control system is pmpesed. Taking the characteristics of the attitude system's model and the requirements of the control task under consideration, this paper converts the original nonlinear control system into an asymptotically decoupling and asymptotically stable system. Provided that both the three body angular velocities and the three attitude angles can be obtained, angle errors are chosen as new state variables. A condition which hotly angular velocities should satisfy when angle error equations are decoupled is presented. The nonlinear feedback stabilizing control law that guarantees this asymptotically decoupling condition is solved via designing a kind of stable system. The final asymptotically stable system can he linear or nonlinear. A numerical simulation for a satellite's attitude control system is performed. Simulation results show that the control law designed in this paper is effective.