2009.4基于本征旋转的刚体姿态跟踪系统滑模控制器.pdf

2010 6 June 2010 36 6 Journal of Beijing Univers ity of Aeronautics and Astronautics Vo.l 36 No6 李铁军 黄 海 ( , 100191) : 对于转动惯量参数时变和参数不确定以及外部扰动和作用力矩方向偏 的 刚体姿态跟踪系统, 提出了采用滑模控制的方法. 利用误 四元数建立数学模型, 通过本征旋 转进行反馈线性化得到指令角加速度. 设计滑模控制律, 实现指令角加速度跟踪. 仿真结果表 明, 所求控制律对刚体姿态跟踪系统具有全局稳定性和鲁棒性. : 反馈线性化; 滑模控制; 姿态控制; 本征旋转; 鲁棒性 : V 8. 22 : A : 2010) E igen rotat ionbased rig id body tracking system w ith s lid ing mode contro lle r L iT iejun Huang Hai ( School ofA stronautics, Beijing U niversity of Aeronautics and Astronautics, Beijing 100191, China) Abstract: A slid ing mode control( SM C) methodw as derived and applied to a rigid body attitude tracking system in the presence of dynam ic uncertaintiesw hich included uncertainties and variations in its inertia pa rameters, uncertainties in its control actuator alignment and external d isturbances. A feedback linearization w as used to obtain the requ ired angu lar acceleration accord ing to eigenrotation. The SM C algorithm w as de rived tom ake the angu lar acceleration of the rigid body track the required angu lar acceleration. Smi u lation re su lts show that the proposed SM C law is globally stab ilizing and insensitive to uncertainties and variations in its inertia parameters, uncertainties in its control actuator alignment and external d isturbances. Key wo rds: feedback of linearization; sliding mode control; attitude control; eigenrotation; robustness . [ 1] . 1 , , , , . , b d r , b v