Finite time multi-mode sliding mode attitude control algorithm of flexible spacecraft

A flexible spacecraft, limited time technology, applied in attitude control, adaptive control, general control system and other directions, can solve the problem that the system cannot be guaranteed for limited time stability, and achieve the effect of eliminating influence and good stability

Inactive Publication Date: 2019-01-15
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0002] In the traditional attitude sliding mode control algorithm of flexible spacecraft, the uncertainties and external disturbances of the moment of inertia of the flexible spacecraft are not considered, and the traditional sliding mode control algorithm only guarantees that the system state slides on a single sliding mode surface, and cannot Guarantee the stability of the system for a limited time

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  • Finite time multi-mode sliding mode attitude control algorithm of flexible spacecraft
  • Finite time multi-mode sliding mode attitude control algorithm of flexible spacecraft
  • Finite time multi-mode sliding mode attitude control algorithm of flexible spacecraft

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0036] like Figure 1 to Figure 2 Shown, the finite-time multimodal sliding mode attitude control algorithm of the flexible spacecraft of the present invention includes:

[0037] First, based on the attitude quaternion and the Euler axis / angle, the following kinematic equations and dynamic equations are established for the flexible spacecraft with bounded external disturbance moments and uncertain moments of inertia:

[0038]

[0039]

[0040]

[0041] Among them, J mb is the body inertia matrix, is J mb expectations, for J mb the inverse of q 0 ,q v are the scalar part and vector part of the attitude quaternion, e is the Euler axis, is the rotation angle, and respectively q 0 ,q v , e and The first derivative of , I 3 Represents a 3×3 identity matrix, matrix q v The product matrix of is defined as Expressed as...

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Abstract

The invention provides a finite time multi-mode sliding mode attitude control algorithm of a flexible spacecraft. The algorithm comprises the following steps: establishing a kinematics equation of theflexible spacecraft by adopting an attitude quaternion and Euler axis / angle representing method; establishing a kinematics equation of the flexible spacecraft of which the central rigid body is provided with a flexible accessory, an external interference, and a rotational inertia uncertainty by adopting a hybrid coordinate method; designing the following two sliding mode control laws by adoptingthe multi-mode control idea and basing on the Lyapunov finite time stability theorem: designing a multi-mode finite time sliding mode control law for the condition that the flexible mode can be measured; designing a multi-mode finite time sliding mode control law based on a dynamic observer for the condition that the flexible mode cannot be measured. The invention has the advantages that the attitude control algorithm designed by the invention is adopted to enable the flexible spacecraft to realize attitude stabilization quickly, and the algorithm has a better robustness to the external interference and the rotational inertia uncertainty.

Description

technical field [0001] The invention relates to the technical field of flexible spacecraft control, in particular to a finite-time multi-mode sliding mode attitude control algorithm for flexible spacecraft. Background technique [0002] In the traditional attitude sliding mode control algorithm of flexible spacecraft, the uncertainties and external disturbances of the moment of inertia of the flexible spacecraft are not considered, and the traditional sliding mode control algorithm only guarantees that the system state slides on a single sliding mode surface, and cannot Ensure that the system is stable for a limited time. Contents of the invention [0003] In order to solve the problems in the prior art, the invention provides a finite-time multi-mode sliding mode attitude control algorithm for a flexible spacecraft. The present invention is specifically realized through the following technical solutions: [0004] A finite-time multi-mode sliding mode attitude control al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042
Inventor 王志群吴爱国
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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