Attitude control of on-orbit capture spacecraft with angular velocity constraint

角速度有界的在轨抓捕航天器姿态控制

¹ School of Information and Control Engineering, Xi’an University of Architecture and Technology, Xi’an 710055, China
² School of Automation, Northwestern Polytechnical University, Xi’an 710129, China

Received: 14 September 2021

Abstract

Aiming at the attitude control problem of spacecraft in the capturing non-cooperative target process, a dual tracking robust adaptive attitude controller is designed. Firstly, a bounded virtual angular velocity is designed for the kinematics equations to guarantee that the attitude converges to zero quickly. Secondly, a new attitude controller is constructed based on the barrier Lyapunov function to ensure that the tracking error between virtual angular velocity and real angular velocity is bounded. The physical constraint of the angular velocity is satisfied. Applying Lyapunov's stability theory, the global asymptotic stability of the closed-loop system is analyzed. To overcome the nonlinear parameter perturbation with unknown upper bound in the process of capturing non-cooperative target, an adaptive updating law based on linear regression operator is constructed to estimate the rotational inertia on-line. Finally, the process of capturing the trajectory tracking of non-cooperative targets through numerical simulation. The simulation results demonstrate that the algorithm designed is effective and robust under the constraint of the bounded angular velocity or internal parameter perturbation with unknown upper bound.

摘要

航天器在非合作目标的抓捕过程中, 其姿态跟踪控制问题通常会受到角速度有界约束, 对此提出了一种基于双环递归跟踪的自适应控制算法。根据抓捕过程中航天器转动惯量呈现出的非线性变化特性, 利用线性回归算子将未知转动惯量矩阵转换成未知向量, 并设计自适应律估计该向量。在系统设计时, 外环采用有界虚拟角速度作为虚拟控制输入保证姿态的精确跟踪; 内环基于障碍Lyapunov函数设计出包含转动惯量估计值的自适应控制律, 理论证明了有界约束的角速度可对虚拟角速度实现快速精确跟踪, 整个跟踪过程误差有界; 然后通过数值仿真, 分析非合作目标轨迹追踪的抓捕过程, 结果表明所设计的算法具有较强的有效性和鲁棒性。