基于开关算法的欠驱动刚体航天器姿态控制

摘要

Aimed to the attitude control of a rigid spacecraft which actuator had two control torques, the attitude control law of the underactuated spacecraft asymptotically stabilized was realized by using switching algorithm and backstepping control according to the condition that whether the underactuated axis was an inertial symmetric axis or not in this paper. The attitude angular velocity stabilization by three attitude maneuvers in accordance with the dynamic model first. The attitude angle stabilization was achieved through five attitude maneuvers based on the dynamic stabilization according to the kinematic model then. The theory analysis and simulation results showed that this control strategy was effective, which could realize the attitude control of the rigid underactuated spacecraft.%针对执行机构只能产生两轴控制力矩的刚体航天器的姿态控制，根据欠驱动轴是否为惯性对称轴，利用开关算法和退步控制技术设计了实现欠驱动航天器姿态渐近稳定的控制律。先根据姿态动力学模型，通过3次姿态机动实现姿态角速度的稳定，再根据姿态运动学模型，在姿态角速度稳定的基础上，通过5次姿态机动实现姿态角的稳定。理论分析和数值仿真结果验证了该控制策略的有效性，可实现欠驱动刚体航天器姿态控制的目标。