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首页> 外文期刊>Acta astronautica >Inertia-independent generalized dynamic inversion feedback control of spacecraft attitude maneuvers
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Inertia-independent generalized dynamic inversion feedback control of spacecraft attitude maneuvers

机译：惯性无关的航天器姿态机动广义动态反演反馈控制

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摘要

The generalized dynamic inversion control methodology is applied to the spacecraft attitude trajectory tracking problem. It is shown that the structure of the skew symmetric cross product matrix alleviates the need to include the inertia matrix in the control law. Accordingly, the proposed control law depends solely on attitude and angular velocity measurements, and it neither requires knowledge of the spacecraft's inertia parameters nor it works towards estimating these parameters. A linear time-varying attitude deviation dynamics in the multiplicative error quaternion is inverted for the control variables using the generalized inversion-based Greville formula. The resulting control law is composed of auxiliary and particular parts acting on two orthogonally complement subspaces of the three dimensional Euclidean space. The particular part drives the attitude variables to their desired trajectories. The auxiliary part is affine in a free null-control vector, and is designed by utilizing a semidefinite control Lyapunov function that exploits the geometric structure of the control law to provide closed loop stability. The generalized inversion singularity avoidance is made by augmenting the generalized inverse with an asymptotically stable fast mode that is driven by angular velocity error's norm from reference angular velocity. Asymptotic tracking is achieved for detumbling maneuvers as the stable augmented mode subdues singularity. If the steady state desired quaternion trajectories are time varying, then asymptotic tracking is lost in favor of close ultimately bounded tracking because the stable augmented mode continues to be excited during steady state phase of response. A rest-to-rest slew and a trajectory tracking maneuver examples are provided to illustrate the methodology.
机译：将广义动态反演控制方法应用于航天器姿态轨迹跟踪问题。结果表明，斜对称叉积矩阵的结构减轻了将惯性矩阵包括在控制律中的需要。因此，提出的控制定律仅取决于姿态和角速度的测量，既不需要了解航天器的惯性参数，也不需要估算这些参数。使用基于广义反演的Greville公式，对控制变量的乘积误差四元数中的线性时变姿态偏差动力学进行反演。最终的控制律由作用在三维欧几里得空间的两个正交互补子空间上的辅助部分和特定部分组成。特定部分将姿态变量驱动到其期望的轨迹。辅助部分在自由的零控制向量中是仿射的，并且是通过利用半定控制Lyapunov函数进行设计的，该函数利用控制律的几何结构来提供闭环稳定性。通过用渐近稳定的快速模式扩充广义逆，从而避免广义逆奇异性，该快速模由参考角速度的角速度误差范数驱动。由于稳定的增强模式克服了奇异性，因此实现了渐进式跟踪，以使动作翻滚。如果稳态所需的四元数轨迹是时变的，则渐进跟踪会丢失，而倾向于最终的有界跟踪，因为稳定的增强模式在响应的稳态阶段会继续被激发。提供了休息到休息的回转和轨迹跟踪机动的例子，以说明该方法。

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