航天器姿态机动及稳定的自抗扰控制

针对航天器动力学参数不确定性以及系统存在外部持续干扰的问题, 提出了一种自抗扰姿态控制器的设计方法. 在为期望姿态安排过渡过程的基础上, 设计了扩张状态观测器, 对参数不确定性和外部干扰进行估计, 并实时补偿. 为抑制跟踪误差, 设计了非线性状态误差反馈律. 仿真结果表明, 该控制器不仅能很好地估计并补偿系统受到的持续干扰, 而且对航天器动力学参数的不确定性具有较强的鲁棒性, 满足航天器姿态快速机动和高稳定度的控制要求, 性能指标明显优于PD控制.

Active disturbance rejection control for spacecraft attitude maneuver and stability

For a spacecraft with dynamic parametric uncertainties and external persistent disturbances, we present an active disturbance rejection control (ADRC). After arranging the transient dynamics of the desired attitude, we design an extended state observer (ESO) to estimate the impact from parametric uncertainties and disturbances, and realize corresponding compensations online. A nonlinear state error feedback law is designed to reject the tracking error. Simulation results show that the designed controller not only accurately estimates and compensates the persistent disturbances, but also realizes the robustness to dynamic parametric uncertainties of the spacecraft. It meets the requirements on the spacecraft fast attitude maneuver and high stability. The performance indices are much superior to those of the PD controller.