基于气浮台的交会对接相对姿态和位置控制

摘要

The problem of relative attitude and position control involved in satellite rendezvous and docking is studied based on a physical ground simulation system for rendezvous and docking.Based on the structure of the physical ground simulation system,the coupled 6 degrees of the freedom dynamics model is developed to de-scribe the motion of the system,and then based on the proposed model,a robust finite-time control scheme is designed by using an adaptive fast non-singular terminal sliding mode control method,the controller can over-come the singularity problem of the traditional terminal sliding mode control under the disturbed condition.Lya-punov theory and simulation results show that the proposed controller can guarantee the finite-time stability and convergence of the system,meanwhile,it can effectively restrain external bounded disturbances.%基于交会对接地面物理仿真系统对卫星交会对接中相对姿态和位置的控制问题进行研究，根据地面物理仿真系统的结构推导出描述系统姿态和位置运动的耦合六自由度动力学模型；基于此模型，在存在外部扰动的情况下，采用自适应快速非奇异终端滑模控制思想设计一种能够克服传统终端滑模控制奇异问题的鲁棒有限时间控制器。通过李雅普诺夫理论推导和仿真分析表明，该控制器在保证系统的有限时间稳定性和收敛性的同时能有效地抑制外部扰动。