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Attitude Stabilization with Unknown Bounded Delay in Feedback Control Implementation

机译：反馈控制实现中具有未知界线延迟的姿态稳定

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摘要

This paper addresses the problem of stabilizing attitude dynamics with an unknown constant delay in feedback with a known strict upper bound. A novel modification to the concept of the complete-type Lyapunov-Krasovskii functional plays a crucial role toward ensuring stability robustness to time delay in the control design. The control law is linear in states, and the resulting closed-loop equations are partitioned to form a nominal system with a perturbation. After obtaining necessary and sufficient exponential stability conditions for the nominal system, a complete-type Lyapunov-Krasovskii functional is constructed. As an intermediate step, an analytical solution for the underlying Lyapunov matrix is obtained. A systematic numerical optimization process is employed here to choose various controller gain parameters so that the region of attraction estimate is maximized. The closed-loop dynamics are shown to be exponentially stable inside the region of attraction estimate. To the authors' best knowledge, this is the first result that provides stable closed-loop control design for the attitude dynamics problem with an unknown delay in feedback.
机译：本文解决了在已知严格上限的情况下以未知的恒定延迟反馈来稳定姿态动力学的问题。对完整型Lyapunov-Krasovskii功能的概念的新颖修改对于确保控制设计中的时间延迟稳定性具有至关重要的作用。控制定律在状态上是线性的，并且将所得的闭环方程式进行划分以形成具有扰动的标称系统。在获得标称系统的必要和足够的指数稳定性条件之后，便构造了一个完整的Lyapunov-Krasovskii泛函。作为中间步骤，获得了基础Lyapunov矩阵的解析解。这里采用系统的数值优化过程来选择各种控制器增益参数，以使吸引力估计区域最大化。闭环动力学被证明在吸引力估计区域内是指数稳定的。就作者所知，这是第一个为未知反馈延迟的姿态动力学问题提供稳定闭环控制设计的结果。

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  • 来源
    《Journal of guidance, control, and dynamics》 |2011年第2期|p.533-542|共10页
  • 作者

    Apurva A. Chunodkar; Maruthi R. Akella;

  • 作者单位

    University of Texas at Austin, Austin, Texas 78712 Department of Aerospace Engineering and Engineering Mechanics;

    University of Texas at Austin, Austin, Texas 78712 Department of Aerospace Engineering and Engineering Mechanics;

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