角速度约束下的刚体飞行器鲁棒有限时间姿态镇定

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;其次,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,通过与其他两种控制方法的仿真比较,验证了所提出控制方案的有效性和优越性.

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

In this paper, the attitude stabilization control problem of rigid aircrafts under angular velocity constraints is studied. A composite finite time attitude control scheme based on disturbance observers is proposed. Firstly for the attitude control system of rigid aircrafts based on the modified rodriguez parameters(MRPs), a finite-time attitude controller with an angular velocity constraint term is designed based on the homogeneous theory and making full use of the system model structure characteristics, 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, the effectiveness and superiority of the proposed control scheme are verified by comparing with the other two control methods.