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Suboptimal continuous torque attitude maneuvers for underactuated spacecraft

机译：欠驱动航天器的次优连续扭矩姿态操纵

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摘要

This work provides a suboptimal continuous torque solution for controlling an underactuated spacecraft using two control inputs. A sequential submaneuver strategy is proposed. Classical quadratic penalty approaches for the control lead to jump discontinuities in the resulting control time history that can potentially excite an unwanted flexible body response. To address this operational concern, this work revises the definition for the optimal control problem by introducing a torque-rate penalty in the performance index. The significant advantage derived from this approach is that control design freedom becomes available for specifying internal control state boundary conditions, which effectively eliminates the undesirable jump discontinuities. Further optimization is achieved by introducing a positive definite weight matrix that penalizes the quadratic control term. This weight matrix allows optimal tuning for the control performance where a balance is achieved between the often conflicting goals of minimizing the applied control during the maneuver and simultaneously enforcing the requirement that the resulting control be free of jump discontinuities. Numerical simulation results are presented to prove the effectiveness of the proposed method. The resulting control solutions are compared with a related approach for an underactuated system. (C) 2014 Elsevier Masson SAS. All rights reserved.
机译：这项工作为使用两个控制输入控制欠驱动航天器提供了次优的连续扭矩解决方案。提出了一种顺序分机动策略。用于控制的经典二次惩罚方法会导致所得到的控制时间历史中的跳跃不连续性，从而可能激发不希望的灵活的身体反应。为了解决这一操作问题，这项工作通过在性能指标中引入转矩速率损失来修改最佳控制问题的定义。这种方法的显着优点是，控制设计自由度可用于指定内部控制状态边界条件，从而有效消除了不希望有的跳跃不连续性。通过引入惩罚二次控制项的正定权矩阵，可以实现进一步的优化。该权重矩阵允许对控制性能进行最佳调整，在通常相互冲突的目标之间取得平衡，这些目标通常是在操纵过程中将所应用的控制最小化，同时又要求最终控制不存在跳跃间断。数值仿真结果证明了该方法的有效性。将所得的控制解决方案与欠驱动系统的相关方法进行比较。 （C）2014 Elsevier Masson SAS。版权所有。

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