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Nonlinear control and stability analysis of spacecraft attitude recovery

机译：航天器姿态恢复的非线性控制与稳定性分析

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摘要

The problem of automated attitude recovery of rigid and flexible spacecraft is investigated using feedback linearization control and a novel approach for generating the control error signal based on quaternion addition. The attitude and flexible dynamics equations for a class of spacecraft is presented. The resulting nonlinear and coupled equations of the system are implemented into a high-fidelity user-friendly simulation environment. The simulator is used for the investigation of attitude recovery of flexible spacecraft using the feedback linearization approach. Since the flexible spacecraft is underactuated, the input-output linearization technique was specifically used to break up the system into two distinct parts, namely 1) an external linearizable system for which a linear controller can be easily implemented, and 2) an internal nonlinear unobservable system for which the associated zero dynamics is shown to be asymptotically stable for two representative cases. The overall closed-loop stability of the flexible spacecraft is analyzed rigorously and shown to be asymptotically stable using Lyapunov's method
机译：利用反馈线性化控制和一种基于四元数加法生成控制误差信号的新颖方法，研究了刚性和柔性航天器的自动姿态恢复问题。提出了一类航天器的姿态和弹性动力学方程。系统生成的非线性方程和耦合方程被实现到高保真度的用户友好型仿真环境中。该模拟器用于使用反馈线性化方法研究挠性航天器的姿态恢复。由于柔性航天器的驱动不足，因此专门使用输入-输出线性化技术将系统分解为两个不同的部分，即1）外部线性化系统，可以轻松实现线性控制器，以及2）内部非线性不可观测对于两个代表性的情况，该系统的关联零动力学被证明是渐近稳定的。严格分析了挠性航天器的整体闭环稳定性，并使用李雅普诺夫方法证明了其渐近稳定

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