带有控制饱和约束的航天器交会输出反馈控制

针对航天器交会问题存在外部干扰和输入饱和的情况, 本文提出了一个输出反馈跟踪控制器. 仅利用测量得到的相对位置信息, 设计了一个滑模观测器用来估计相对角速度, 并根据该估计值设计了一个鲁棒反步控制律. 通过引入一个辅助系统, 对输入饱和情况进行了分析. 采用Lyapunov 稳定性理论, 证明了本文提出的该控制器能够保证位置和速度跟踪误差的一致有界性. 最后通过数值分析验证了所设计的输出反馈控制器的有效性.

Output feedback control for spacecraft rendezvous with control saturation

An output feedback tracking control law is developed for spacecraft rendezvous problem in the presence of external disturbance and input saturation. By only using the measurable relative position, a sliding-mode-based observer is designed to estimate the relative velocity. With the estimated information, a robust backstepping control law is designed, where an auxiliary system is introduced to analyze the saturated input. With the Lyapunov framework, the proposed controller is proved to ensure the ultimate boundedness of the tracking errors of position and velocity. Numerical simulation demonstrates the effect of the designed control law.