输入饱和系统的离散增益调度控制及其在在轨交会中的应用

基于参量Lyapunov方法和不变集理论，针对具有输入饱和非线性约束的线性系统，提出了一种离散增益调度控制方法. 通过逐渐 增大代表闭环系统收敛速率参数的值，所提出的离散增益调度控制方法逐步加快闭环系统的收敛速度，达到改善闭环系统 动态性能的目的. 如果开环系统是非指数不稳定的，则所提出的离散增益调度控制器可实现半全局镇定；反之可实现局部镇定，并均可保证闭环系统的指数稳定性. 最后，将 所提出的方法应用于空间合作目标在轨交会控制系统的控制器设计，并直接在原始非线 性系统模型上进行仿真，结果验证了所提方法的有效性.

Discrete Gain Scheduled Control of Input Saturated Systems with Applications in On-orbit Rendezvous

This paper proposes a discrete gain scheduled approach to the control of linear systems with input saturation nonlinearity by utilizing the parametric Lyapunov equation based approach and the invariant set theory. The proposed discrete gain scheduled approach improves the dynamic performances of the closed-loop systems significantly by gradually increasing a design parameter representing the convergence rate of the closed-loop system. It is shown that the proposed discrete gain scheduled controller achieves semi-global stabilization if the open-loop system is not exponentially unstable, and achieves local stabilization if the open-loop system is exponentially unstable. The exponential stability of the closed-loop system is guaranteed in both cases. Numerical simulations on the nonlinear model of the spacecraft rendezvous system show the effectiveness of the proposed discrete gain scheduled approach.