国防科技大学学报2017，Vol.39Issue(4)：6-14,9.DOI:10.11887/j.cn.201704002
基于对偶四元数的航天器六自由度相对运动输入有界控制
Control for 6-DOF relative motion of spacecraft with input saturation constraint using dual quaternion
摘要
Abstract
The dual quaternion was used to investigate the 6-DOF (six degree-of-freedom) relative motion of spacecraft, and an integrated controller of attitude and orbit with input saturation constraint was designed.Firstly, the dual number and dual quaternion followed by the derivation of 6-DOF relative motion of attitude and orbit coupled model were introduced.Then, an explicitly bounded controller was proposed by using the property that the absolute value of hyperbolic tangent function was less than 1.Two coupled adaptive regulators were respectively designed to adjust the outputs of the controller dynamically.Thirdly, it is proved by a rigorous theoretical analysis that the closed-loop system is globally and asymptotically stable.Finally, numerical simulation experiment is implemented to demonstrate the validity and effectiveness of the proposed controller.Experimental results show that both the obtained control torque and control force satisfy the given constraints, the 6-DOF relative motion of spacecraft can be controlled accurately and the method is robust to parameter uncertainties and external disturbance.Compared with other methods, the proposed method has the following advantages: the convergence rate is faster, the max magnitude of output control torque and control force are both smaller, and the consumed energy is less.关键词
输入有界/耦合的自适应调节律/李雅普诺夫稳定性理论/航天器六自由度相对运动/对偶四元数Key words
input saturation constraint/coupled adaptive regulators/theory of Lyapunov stability/six degree-of-freedom relative motion of spacecraft/dual quaternion分类
航空航天引用本文复制引用
陈晨,吴锦杰,王小雨,李东旭,郑伟..基于对偶四元数的航天器六自由度相对运动输入有界控制[J].国防科技大学学报,2017,39(4):6-14,9.基金项目
国家自然科学基金资助项目(61403160) （61403160）
第55批中国博士后面上基金资助项目(2014M551194) （2014M551194）
吉林省科技厅资助项目(20150414052GH,20140520118JH) （20150414052GH,20140520118JH）
