带有输入时延的刚性航天器反最优姿态控制

摘要

An attitude stabilization controller of the rigid spacecraft in the presence of input delay was proposed.Firstly,a Lyapunov function was constructed after backstepping transformation of the original spacecraft model,and a time delay compensated controller that can guarantee global asymptotic stability was obtained.Considering the strong coupling nonlinearity of spacecraft system,the inverse optimal theory was then utilized to construct a cost functional with penalty on both system states and control torque,which reflects the importance of energy cost,and the optimal controller was consequently obtained.Compared with the optimal controller,the controller without optimal consideration costs more energy,quantitative analysis was given in simulation.Simulation results show the proposed controller is effective on attitude stabilization with different time delay,moreover,it is robust with delay uncertainty.%针对带有输入时延的刚性航天器提出一种姿态稳定性控制方法,首先利用反步法构造李雅普诺夫控制函数,由此得到使系统全局渐近稳定的时延补偿控制器.由于航天器系统为强耦合非线性系统,基于反最优理论,对非线性时延系统构造关于系统状态量和控制力矩的目标函数,该目标函数体现了能耗的重要性,并得到相应的最优控制器.将无优化指标考虑的控制器与最优控制器进行性能比较,非最优控制器所需能量消耗较大,仿真中给出了定量分析结果.仿真结果显示,不同时延情况下,该控制器均可以有效控制航天器姿态稳定,并且对于时延估计偏差具有鲁棒性.