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Attitude-Tracking Control with Path Planning for Agile Satellite Using Double-Gimbal Control Moment Gyros

机译：使用双云台控制矩陀螺仪的敏捷卫星路径规划姿态跟踪控制

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摘要

In view of the issue of rapid attitude maneuver control of agile satellite, this paper presents an attitude-tracking control algorithm with path planning based on the improved genetic algorithm, adaptive backstepping control as well as sliding mode control. The satellite applies double gimbal control moment gyro as actuator and is subjected to the external disturbance and uncertain inertia properties. Firstly, considering the comprehensive mathematical model of the agile satellite and the double gimbal control moment gyro, an improved genetic algorithm is proposed to solve the attitude path-planning problem. The goal is to find an energy optimal path which satisfies certain maneuverability under the constraints of the input saturation, actuator saturation, slew rate limit and singularity measurement limit. Then, the adaptive backstepping control and sliding mode control are adopted in the design of the attitude-tracking controller to track accurately the desired path comprised of the satellite attitude quaternion and velocity. Finally, simulation results indicate the robustness and good tracking performance of the derived controller as well as its ability to avert the singularity of double gimbal control moment gyro.
机译：针对敏捷卫星的快速姿态机动控制问题，提出了一种基于改进遗传算法，自适应反步控制以及滑模控制的路径规划姿态跟踪控制算法。卫星采用双万向节控制力矩陀螺作为执行器，并受到外部干扰和不确定的惯性特性。首先，考虑敏捷卫星和双云台控制力矩陀螺的综合数学模型，提出了一种改进的遗传算法来解决姿态路径规划问题。目的是找到在输入饱和度，执行器饱和度，摆率极限和奇异性测量极限的约束下满足一定可操作性的能量最佳路径。然后，在姿态跟踪控制器的设计中采用自适应反步控制和滑模控制，以精确地跟踪由卫星姿态四元数和速度组成的期望路径。最后，仿真结果表明了所推导控制器的鲁棒性和良好的跟踪性能，以及其避免双万向节控制力矩陀螺的奇异性的能力。

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  • 来源
    《Mathematical Problems in Engineering》 |2012年第10期|342043.1-342043.19|共19页
  • 作者

    Peiling Cui; Fuyu Liu;

  • 作者单位

    School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China,Science and Technology on Inertial Laboratory, Beijing 100191, China,Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory, Beijing 100191, China;

    School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China,Science and Technology on Inertial Laboratory, Beijing 100191, China,Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory, Beijing 100191, China;

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