角速度约束下的刚体飞行器鲁棒有限时间姿态镇定
作者:
作者单位:

1.合肥工业大学电气与自动化工程学院;2.齐鲁工业大学

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中图分类号:

TP273

基金项目:

国家自然科学基金(62073113, 62003122, 61673153); 安徽省自然科学基金(2008085UD03, 1808085MF180); 中央高校基本科研业务费(PA2020GDKC0016)


Robust finite-time attitude stabilization of rigid aircraft under angular velocity constraints
Author:
Affiliation:

1.School of Electrical Engineering and Automation,Hefei University of Technology;2.Qilu University of Technology

Fund Project:

National Natural Science Foundation of China (62073113, 62003122, 61673153), Natural Science Foundation of Anhui Province of China (2008085UD03, 1808085MF180), and Fundamental Research Funds for the Central Universities of China (PA2020GDKC0016)

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    摘要:

    本文针对角速度状态受限条件下的刚体飞行器姿态镇定控制问题, 提出了一种基于扰动观测器的时变状 态增益有限时间姿态控制方法. 针对基于修正型罗德里格斯参数(MRPs)描述的刚体飞行器姿态控制模型, 首先, 利 用齐次性理论并充分考虑到系统的模型结构特点, 设计了一种带有角速度约束项的有限时间姿态控制器, 使得系统 有限时间镇定. 同时, 在初始状态满足受限条件的情况下, 角速度在任意时刻都可以被约束在期望的范围内. 然后, 针 对存在外部干扰的姿态环动力学系统, 提出了一种带扰动估计补偿的复合有限时间姿态镇定控制器. 最后, 在仿真部 分, 通过与其他两种控制方法的比较, 验证所提控制方案的有效性和优越性.

    Abstract:

    In this paper, the attitude stabilization control problem of rigid aircraft under angular velocity constraints is studied. A composite finite time attitude control scheme based on disturbance observer is proposed. For the attitude control system of rigid aircraft based on the Modified Rodriguez Parameters(MRPs), first, based on the homogeneous theory and make full use of the system model structure characteristics, a finite-time attitude controller with angular velocity constraint term is designed under which the attitude can be stabilized to the equilibrium in a finite time. At the same time, the angular velocity can be constrained in the expected range at any time if the initial state satisfies the restricted condition. Then, in the presence of external disturbance, a composite finite-time attitude stabilization controller with disturbance-estimation-compensation is proposed. Finally, in the simulation part, the effectiveness and superiority of the proposed control scheme are verified by comparing with the other two control methods.

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  • 收稿日期:2021-05-21
  • 最后修改日期:2021-08-26
  • 录用日期:2021-09-10
  • 在线发布日期: 2021-09-17
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