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针对存在参数不确定性以及外部有界干扰的直连式三体旋转绳系卫星系统姿态跟踪控制问题,提出了一种分布式鲁棒最优控制方法。该方法首先针对单体绳系卫星姿态模型,在不考虑参数不确定性和干扰的条件下,应用Ham-ilton-Jacobi-Bellman方程设计了最优控制器;接着,考虑到实际系统存在参数不确定性和干扰,采用自适应与鲁棒误差积分方法在线学习参数不确定性和有界干扰,与最优控制器结合设计了鲁棒最优控制器,使闭环系统满足了性能指标达到最小的要求,并应用Lyapunov稳定性定理证明了其闭环系统的渐近稳定性。进一步考虑到绳系卫星系统的运动同步性,将单体绳系卫星姿态控制器设计扩展至直连式三体绳系卫星姿态系统,设计了分布式鲁棒最优控制器。最后在MATLAB/Simulink平台上进行了仿真,验证了方法的可行性与有效性,表明其具有潜在的应用前景。
Aiming at the problem of attitude tracking control of a direct-coupled three-body rotating rover satellite system with parameter uncertainties and external bounded disturbances, a distributed robust optimal control method is proposed. The method first designs the optimal controller based on the Ham-ilton-Jacobi-Bellman equation without considering the parameter uncertainty and the disturbance of the mooring satellite attitude model. Then, considering that the actual system parameters Deterministic and interference, the parameter uncertainty and bounded disturbance are studied online by using adaptive and robust error integral method. In combination with the optimal controller, a robust optimal controller is designed so that the closed-loop system satisfies the performance index to a minimum The Lyapunov stability theorem is applied to prove the asymptotic stability of the closed-loop system. Taking into account the motion synchronization of the satellite system, the design of the monopile satellite attitude controller is extended to the direct three-body satellite system. The distributed robust optimal controller is designed. Finally, the simulation on MATLAB / Simulink platform verifies the feasibility and effectiveness of the method, indicating that it has potential applications.