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| 基于四元数的航天器姿态非线性控制器 | |
| 引用本文： | 祝乔,汪旭东,崔家瑞.基于四元数的航天器姿态非线性控制器[J].信息与控制,2012,41(2):170-173,179. |
| 作者姓名： | 祝乔 汪旭东 崔家瑞 |
| 作者单位： | 1. 北京科技大学自动化学院,北京100083;北京科技大学钢铁流程先进控制教育部重点实验室,北京100083 2. 北京控制工程研究所,北京,100190 3. 北京科技大学自动化学院,北京,100083 |
| 基金项目： | 国家自然科学基金资助项目(11043011);中央高校基本科研业务费专项资金资助项目(FRF-AS-09-006B);北京市重点学科共建资助项目(XK100080537);中国博士后科学基金面上资助项目(2011M500244);高等学校博士学科点专项科研基金新教师类资助项目(20110006120034) |
| 摘 要： | 针对由四元数描述的航天器姿态控制系统进行了非线性反馈控制器设计.首先,得到一类含角速度测量的反馈控制律.该控制律不仅可以保证闭环系统是全局渐近稳定的,而且保证了2个期望的平衡位置都是稳定的.然后,利用基于四元数的滤波器取代角速度测量,得到一类无需角速度测量的反馈控制律.该控制律同样保证了闭环系统的全局渐近稳定性和2个稳定的期望平衡位置.值得注意的是,2个稳定的期望平衡位置,将促使由任意初始姿态出发的轨迹都就近收敛至任意期望平衡位置.最后,数值仿真展示了所得反馈控制律的优势. |
| 关 键 词： | 航天器姿态控制 四元数 非线性反馈控制 无角速度测量 |
A Ouaternion-Based Nonlinear Attitude Controller for Spacecrafts |
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| ZHU Qiao , WANG Xudong , CUI Jiarui.A Ouaternion-Based Nonlinear Attitude Controller for Spacecrafts[J].Information and Control,2012,41(2):170-173,179. | |
| Authors: | ZHU Qiao WANG Xudong CUI Jiarui |
| Affiliation: | 1(1.School of Automation & Electrical Engineering,University of Science and Technology Beijing,Beijing 100083,China;2.Key Laboratory of Advanced Control of Iron and Steel Process(Ministry of Education),University of Science and Technology Beijing,Beijing 100083,China;3.Beijing Institute of Control Engineering,Beijing 100190,China) |
| Abstract: | A nonlinear feedback controller is designed for spacecrafts’ attitude control systems based on quaternion.A feedback control law with angular velocity measurement is firstly obtained which guarantees the globally asymptotical stability of the closed-loop systems and the stability of the two desired equilibriums.Then,using a filter of the quaternion to replace the angular velocity measurement,a feedback control law without angular velocity measurement is obtained which can also guarantee the globally asymptotical stability of the closed-loop systems and two stable desired equilibriums.It is important to note that two stable equilibriums can make any solution converge to the equilibrium close to the initial attitude.Finally,a numerical simulation is given to show the advantages of the obtained feedback control laws. |
| Keywords: | spacecraft attitude control quaternion nonlinear feedback control angular velocity free measurement |
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