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Indirect adaptive control for attitude tracking of spacecraft with unknown reaction wheel friction

机译：具有未知反作用轮摩擦的航天器姿态跟踪的间接自适应控制

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摘要

This paper examines attitude tracking problem with unknown friction torque of reaction wheels and external disturbances. A robust adaptive controller with parameter update law is proposed and analyzed. An indirect (nonregressor-based) approach to dealing with the effects of unknown friction torque and external disturbances is explored. This is done by not focusing on friction torque and external disturbances themselves, but on their bound, which allows the core information on friction torque and external disturbances to be extracted and used for control design. It is shown that the proposed controller guarantees not only stability of the resulting closed-loop system but also transient performance. Numerical simulations are presented to show the effectiveness of the proposed attitude tracking approach. (C) 2015 Elsevier Masson SAS. All rights reserved.
机译：本文研究了反作用轮摩擦力矩未知和外部干扰的姿态跟踪问题。提出并分析了一种具有参数更新律的鲁棒自适应控制器。探索了一种间接（基于非回归）的方法来处理未知的摩擦转矩和外部干扰的影响。这不是通过专注于摩擦转矩和外部干扰本身，而是通过限制它们的边界来完成的，这允许提取有关摩擦转矩和外部干扰的核心信息，并将其用于控制​​设计。结果表明，所提出的控制器不仅保证了所得闭环系统的稳定性，而且还保证了瞬态性能。数值模拟表明了所提出的姿态跟踪方法的有效性。 （C）2015 Elsevier Masson SAS。版权所有。

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