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首页> 外文会议>International Conference on Intelligent Computation Technology and Automation >Attitude Tracking and Vibration Suppression of Nonlinear Flexible Spacecraft via Trajectory Shaping and Adaptive Sliding Control
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Attitude Tracking and Vibration Suppression of Nonlinear Flexible Spacecraft via Trajectory Shaping and Adaptive Sliding Control

机译：通过轨迹成型和自适应滑动控制的非线性柔性航天器的姿态跟踪和振动抑制

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摘要

A control scheme based on reference trajectory shaping and adaptive sliding control is presented for the uncertain nonlinear underactuated system and is applied to the flexible spacecraft for its rotational maneuver control and active suppression of elastic vibration during the maneuver. The configuration of the proposed approach is that the input shaper is implemented on reference model to get the expected attitude angle, which achieves the exact reduction of residual vibration by modifying the existing command; while for the feedback loop, the feedback controller based on the adaptive sliding control, which settles the underactuated problem, is implemented to make the closed-loop system behave like the reference model with input shaper and suppress the residual vibrations. The proposed scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parametric uncertainties. Simulation results for the flexible spacecraft model show precise trajectory control and vibration suppression.
机译：为不确定的非线性欠扰动系统提出了一种基于参考轨迹整形和自适应滑动控制的控制方案，并且施加到柔性航天器，用于其在操纵期间的旋转操纵控制和弹性振动的主动抑制。所提出的方法的配置是输入整形器在参考模型上实现以获得预期的姿态角度，通过修改现有命令实现残留振动的精确降低;虽然对于反馈回路，但基于自适应滑动控制的反馈控制器实现了沉降欠触发问题，以使闭环系统表现得像输入整形器的参考模型，并抑制残余振动。该方案保证了闭环系统稳定性，在参数不确定因素的存在下产生良好的性能和鲁棒性。柔性航天器模型的仿真结果表明了精确的轨迹控制和振动抑制。

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