| 基于微分平滑的欠驱动航天器运动轨迹设计 |
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| 引用本文： | 陈硕,戈新生. 基于微分平滑的欠驱动航天器运动轨迹设计[J]. 北京机械工业学院学报, 2010, 25(2): 30-36 |
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| 作者姓名： | 陈硕 戈新生 |
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| 作者单位： | 北京信息科技大学自动化学院,北京,100192 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对有两个控制力矩的欠驱动刚性航天器的可行轨迹生成问题,通过分析系统的运动模型证明了欠驱动航天器是微分平滑的,找到了合适的平滑输出,采用微分平滑理论设计了欠驱动航天器从初始平衡状态到最终平衡状态的参考轨迹,并实现航天器对参考轨迹的跟踪。
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| 关 键 词： | 欠驱动航天器 微分平滑 参考轨迹 |
Feasible trajectory generation of an underactuated spacecraft base on differential flatness |
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| CHEN Shuo,GE Xin-sheng. Feasible trajectory generation of an underactuated spacecraft base on differential flatness[J]. Journal of Beijing Institute of Machinery, 2010, 25(2): 30-36 |
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| Authors: | CHEN Shuo GE Xin-sheng |
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| Affiliation: | (School of Applied Sciences,Beijing Information Science and Technology University,Beijing 100192,China) |
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| Abstract: | The problem of feasible trajectory generation of an underactuated rigid spacecraft with two control torques is discussed in this paper.It is proved that the underactuated spacecraft is flat by analyzing the kinematics equations of the system.The theory of differential flatness is utilized to design the feasible trajectory of the underactuated spacecraft from initial equilibrium to final equilibrium.Finally,the spacecraft＇s tracking of the feasible trajectory is realized. |
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| Keywords: | underactuated spacecraft differential flatness feasible trajectory |
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