National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China; School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China.
National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China; School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China.
ISA Trans. 2018 Mar;74:28-44. doi: 10.1016/j.isatra.2018.01.016. Epub 2018 Jan 12.
In this paper, a robust inertia-free attitude takeover control scheme with guaranteed prescribed performance is investigated for postcapture combined spacecraft with consideration of unmeasurable states, unknown inertial property and external disturbance torque. Firstly, to estimate the unavailable angular velocity of combination accurately, a novel finite-time-convergent tracking differentiator is developed with a quite computationally achievable structure free from the unknown nonlinear dynamics of combined spacecraft. Then, a robust inertia-free prescribed performance control scheme is proposed, wherein, the transient and steady-state performance of combined spacecraft is first quantitatively studied by stabilizing the filtered attitude tracking errors. Compared with the existing works, the prominent advantage is that no parameter identifications and no neural or fuzzy nonlinear approximations are needed, which decreases the complexity of robust controller design dramatically. Moreover, the prescribed performance of combined spacecraft is guaranteed a priori without resorting to repeated regulations of the controller parameters. Finally, four illustrative examples are employed to validate the effectiveness of the proposed control scheme and tracking differentiator.
本文针对具有不可测状态、未知惯性特性和外部干扰转矩的捕获后组合航天器，研究了一种具有保证规定性能的鲁棒无惯性姿态捕获过渡控制方案。首先，为了准确估计组合体不可用的角速度，开发了一种新颖的有限时间收敛跟踪微分器，该跟踪微分器具有相当的计算可实现结构，无需考虑组合体的未知非线性动力学。然后，提出了一种鲁棒无惯性规定性能控制方案，其中，通过稳定滤波姿态跟踪误差，首先定量研究了组合体的瞬态和稳态性能。与现有工作相比，该方案的突出优点是不需要参数辨识和神经网络或模糊非线性逼近，从而大大降低了鲁棒控制器设计的复杂性。此外，无需反复调整控制器参数即可预先保证组合体的规定性能。最后，通过四个实例验证了所提出的控制方案和跟踪微分器的有效性。
