相对姿态运动学和动力学方程及其在航天器姿态状态跟踪控制问题中的应用

摘要

In this paper the relative attitude kinematics equations and relative dynamics equations are devel-oped. These results will provide the base for developing the virtual platform, relative navigation and forma-tion flying. As a direct application of the relative kinematics and relative dynamics equations to the spacecraft large angle slewing maneuvers problems, the asymptotically stable nonlinear attitude controller are presented. Comparing with the similar published papers, these nonlinear controllers will really realize the attitude state capture and tracking in the large angle slewing maneuvers.%论文第一次系统地研究并给出了适用于多种姿态参数的相对姿态运动学方程和相对动力学方程,所得结果为发展虚拟平台、相对导航和编队飞行提供了理论基础.论文中还给出了相对姿态运动学方程和相对动力学方程在航天器大角度机动控制问题中的应用,及相应的渐进稳定非线性姿态控制器设计.与其他文献仅用位置反馈来实现姿态机动的跟踪问题相比,本文用状态反馈,不仅实现了姿态机动跟踪控制,还得到了满意的跟踪过程动态品质.这对实现分布卫星具有平稳跟踪品质的相对指向控制,具有重要意义.