论文标题
跟踪控制器设计，用于使用稳定嵌入的未知恒定干扰下的卫星态度
Tracking Controller Design for Satellite Attitude Under Unknown Constant Disturbance Using Stable Embedding
论文作者
论文摘要
我们通过使用稳定的嵌入技术和Lyapunov稳定性理论的四元组，在存在任何未知的恒定干扰的情况下，为完全驱动的刚体系统进行跟踪控制法。稳定的嵌入技术将态度动力学从单位四季度集合扩展到四季度集合，即欧几里得空间，使得单位四元素集是一组不变的扩展动力学集合。系统动力学到欧几里得空间的稳定扩展使我们能够在诸如Lasalle-yoshizawa的定理等欧几里得空间中采用精心研究的Lyapunov技术。为态度动力学提出了强大的跟踪控制定律，但要受到未知的恒定干扰，并且跟踪控制定律的收敛属性得到了严格证明。在数值模拟的帮助下，即使在某些挑战性的情况下，拟议的控制法也表现出色。
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding technique extends the attitude dynamics from the set of unit quaternions to the set of quaternions, which is a Euclidean space, such that the set of unit quaternions is an invariant set of the extended dynamics. Such a stable extension of the system dynamics to a Euclidean space allows us to employ well studied Lyapunov techniques in Euclidean spaces such as LaSalle-Yoshizawa's theorem. A robust tracking control law is proposed for the attitude dynamics subject to unknown constant disturbance and the convergence properties of the tracking control law is rigorously proven. It is demonstrated with the help of numerical simulations that the proposed control law has a remarkable performance even in some challenging situations.
