星间激光输能姿态指向自适应控制器设计

摘要

Based on the backstepping technique,a method was proposed for developing an attitude pointing adaptive controller of intersatellite laser power beaming. The modified Rodrigues parameter was used to describe the satellite attitude,and the expected attitude was calculated by the attitude matrix transformation. Considering the uncertainties in moment of inertia,the limited inputs and external disturbances, an adaptive control law was established based on the attitude kinematics equations. Finally, the system was proved steady by the Lyapunov′s stability theory. The simulation results show that the errors of attitude and angular velocity reach zero in 1 5 s. Both the angular velocity and the controlling moment are kept under control.Therefore,the initial attitude of the user satellite can be controlled to the expected one by using the controller, and both the angular velocity and the controlling moment can be kept under control if the parameter is fitting. That proves the controller is effective and feasible.%针对同轨道平面两星之间激光能量传输时的姿态指向控制问题，基于反步（Backstepping）法提出了一种自适应控制器设计方法。该方法先基于罗德里格参数（MRP）对卫星进行姿态描述；然后根据星间激光输能任务对姿态指向的特殊要求通过多个姿态矩阵的转换解算出了用户星期望姿态的表达式；之后基于 Backstepping法，设计了自适应控制律，该控制律能解决控制输入有限和转动惯量不确定的问题，而且有效克服空间干扰力矩；最后通过Lyapunov稳定性定理证明了控制系统的稳定性。仿真结果显示，在约15 s后，用户星的姿态误差和角速度误差收敛到0，并且角速度和控制力矩的值都在约束条件的范围内，说明文章设计的控制器不仅能够使用户星按最短路径调整到期望姿态，而且能够有效地抑制空间干扰力矩和解决转动惯量不确定的问题，并且通过合理地设计控制参数，可以在保证控制精度和速度情况下使控制输入满足约束条件。