The singularity avoidance back-stepping attitude control of under-actuated rigid spacecraft

被引：0
|
作者：
Xia D.-Y. [1 ]
Chang H.-B. [1 ]
机构：
[1] Beijing Institute of Control and Electronic Technology, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2020年 / 37卷 / 05期
关键词：
Back-stepping; Control; Lyapunov function; Singularity; Spacecraft; Under-actuated;
D O I：
10.7641/CTA.2019.80603
中图分类号：
学科分类号：
摘要：
In order to finish the stability control of the under-actuated rigid spacecraft (UCRS) attitude system and make the UCRS fly steadily throughout the flight, a singularity avoidance back-stepping control algorithm (SABSC) is proposed by this paper. Firstly, for the known dynamics model and the kinematic model described by using the (w, z) parameters of the UCRS system, by constructing an appropriate Lyapunov function, and the ideal attitude angular velocities of two actuated axes are designed to ensure that the parameters of the attitude system are uniformly convergent. Secondly, on the basis of the ideal attitude angular velocities, with the help of reconstructing an expected Lyapunov function, the singularity avoidance back-stepping controller making the attitude system stable is designed. Finally, in order to evaluate the performance of SABSC provided by this paper, the numerical simulation experiment is given, the experimental results confirm that SABSC proposed in this paper has better control performance. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1028 / 1033
页数：5
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