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首页> 外文期刊>IEEE Transactions on Industrial Electronics >Saturated Adaptive Hierarchical Fuzzy Attitude-Tracking Control of Rigid Spacecraft With Modeling and Measurement Uncertainties
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Saturated Adaptive Hierarchical Fuzzy Attitude-Tracking Control of Rigid Spacecraft With Modeling and Measurement Uncertainties

机译：具有建模和测量不确定性的刚性航天器饱和自适应分层模糊姿态跟踪控制

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摘要

The problem of the attitude-tracking control of spacecraft subject to additive measurement uncertainty, control saturation, parametric uncertainty, and unknown external disturbances is studied in this paper. Because of the mismatched disturbance generated by measurement uncertainty in attitude kinematics, the normwise adaptive estimations for the bounds of the mismatched disturbance are involved in the kinematical controller; then, a saturated adaptive hierarchical fuzzy controller for attitude dynamics is developed in the backstepping design, where an anti-windup compensator is used to deal with the effect of control saturation, elementwise adaptive estimations are used to compensate parametric uncertainty, and direct adaptive hierarchical fuzzy control is designed to compensate the lumped disturbances in attitude dynamics. It is proved via Lyapunov analysis that the attitude-tracking errors eventually converge to adjustable small neighborhoods of zero. Simulation results validate the effectiveness and performance of the proposed control approach.
机译：研究了航天器姿态跟踪控制存在附加测量不确定性，控制饱和度，参数不确定性和未知外部干扰的问题。由于姿态运动学中测量不确定性所产生的失配干扰，运动控制器中涉及失配扰动范围的标准自适应估计。然后，在反步设计中开发了一种用于姿态动力学的饱和自适应分层模糊控制器，其中使用了抗饱和补偿器来处理控制饱和的影响，使用逐元自适应估计来补偿参数不确定性，并采用直接自适应分层模糊控制系统旨在补偿姿态动力学中的集中干扰。通过Lyapunov分析证明，姿态跟踪误差最终收敛到零的可调整小邻域。仿真结果验证了所提出控制方法的有效性和性能。

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