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分区四元数姿态控制

张洪华 关轶峰 胡锦昌 王泽国

张洪华, 关轶峰, 胡锦昌, 王泽国. 分区四元数姿态控制. 自动化学报, 2015, 41(7): 1341-1349. doi: 10.16383/j.aas.2015.c140624
引用本文: 张洪华, 关轶峰, 胡锦昌, 王泽国. 分区四元数姿态控制. 自动化学报, 2015, 41(7): 1341-1349. doi: 10.16383/j.aas.2015.c140624
ZHANG Hong-Hua, GUAN Yi-Feng, HU Jin-Chang, WANG Ze-Guo. A Novel Attitude Control Strategy Based on Quaternion Partition. ACTA AUTOMATICA SINICA, 2015, 41(7): 1341-1349. doi: 10.16383/j.aas.2015.c140624
Citation: ZHANG Hong-Hua, GUAN Yi-Feng, HU Jin-Chang, WANG Ze-Guo. A Novel Attitude Control Strategy Based on Quaternion Partition. ACTA AUTOMATICA SINICA, 2015, 41(7): 1341-1349. doi: 10.16383/j.aas.2015.c140624

分区四元数姿态控制

doi: 10.16383/j.aas.2015.c140624
基金项目: 

国家自然科学基金(61403031)资助

详细信息
    作者简介:

    张洪华北京控制工程研究所研究员. 1991 年获得北京航空航天大学博士学位. 主要研究方向为挠性航天器控制, 着陆器制导、导航与控制.E-mail: zhanghh502@163.com

A Novel Attitude Control Strategy Based on Quaternion Partition

Funds: 

Supported by National Natural Science Foundation of China (61403031)

  • 摘要: 提出了一种基于分区控制策略的四元数姿态控制律. 其基本思想是基于姿态四元数误差分区设计目标角速度, 由此将问题降阶为一个角速度跟踪问题; 基于不同的角速度跟踪误差, 设计了切换类型的抗干扰姿态控制律. 该控制策略可以使得姿态快速收敛, 并且在合适的参数选择条件之下还能同时满足控制力矩的饱和约束. 通过综合相平面和Lyapunov函数的分析方法严格证明了闭环系统全局收敛的性质. 最后, 通过数值仿真验证了本文提出的控制方案的有效性.
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出版历程
  • 收稿日期:  2014-09-01
  • 修回日期:  2015-02-16
  • 刊出日期:  2015-07-20

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