Hatami Mohammadjavad, Nadafi Reza, Kabganian Mansour
Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, 15875-4413, Iran.
Aerospace Research Institute, Amirkabir University of Technology, Tehran, 15875-4413, Iran.
Sci Rep. 2025 May 23;15(1):17947. doi: 10.1038/s41598-025-98468-0.
In this study, a novel asymptotically stable attitude tracking controller is propounded for a satellite, operating in the existence of environmental disturbances, uncertain inertia matrix, reaction wheel misalignment, and actuator faults. Unlike existing methods, the proposed controller addresses multiple practical challenges simultaneously, including disturbances, uncertainties, misalignment, and faults. Incidentally a key advantage of the proposed controller is its ability to work without requiring a priori knowledge of the upper bound values of uncertainties and disturbances, which is a significant advancement over previous approaches. By deriving the kinematic and kinetic equations of the satellite system and defining appropriate sliding surfaces, the global asymptotic stability of the closed-loop system is guaranteed via Lyapunov theory. Simulation results, incorporating actuator saturation constraints, demonstrate the controller's performance and robustness, achieving precise attitude tracking with 2% settling time of 7 s and saturation constraint of 0.12 Nm. Furthermore, a MATLAB Multibody simulation model validates the controller, yielding a maximum verification error less than 4% in angular velocity.
在本研究中，针对运行于存在环境干扰、不确定惯性矩阵、反作用轮不对准及执行器故障情况下的卫星，提出了一种新型渐近稳定姿态跟踪控制器。与现有方法不同，所提出的控制器同时解决了多个实际挑战，包括干扰、不确定性、不对准和故障。顺便提一下，所提出控制器的一个关键优势在于其能够在无需不确定性和干扰上限值的先验知识的情况下工作，这是相对于先前方法的一个重大进步。通过推导卫星系统的运动学和动力学方程并定义合适的滑动面，利用李雅普诺夫理论保证了闭环系统的全局渐近稳定性。包含执行器饱和约束的仿真结果展示了控制器的性能和鲁棒性，实现了精确的姿态跟踪，调节时间为7 s，超调量为2%，饱和约束为0.12 Nm。此外，一个MATLAB多体仿真模型对该控制器进行了验证，角速度的最大验证误差小于4%。
