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介绍了一种非线性姿态系统的渐近解耦稳定控制律 .从卫星姿态控制的具体问题出发 ,针对姿态系统模型自身的非线性特点和控制任务要求 ,将原非线性控制系统变换为一渐近解耦、渐近稳定系统 .在三个体轴旋转角速度和三个姿态角都可以得到的前提下 ,选取姿态角偏差作为新的状态变量 ,给出角偏差方程解耦时体轴旋转角速度所应满足的一个条件 ,并通过构造一类稳定的系统 ,求解出使这个解耦条件渐近成立的非线性反馈稳定控制律 .所得到的渐近稳定系统既可以是线性的 ,也可以是非线性的 .对某卫星的姿态控制系统进行了数值仿真 ,仿真结果证明了该方法的有效性 .
Asymptotic decoupling stability control law of a nonlinear attitude system is introduced.According to the specific problems of attitude control of a satellite, aiming at the nonlinear characteristics and control task requirements of the attitude system model, the original nonlinear control system is transformed into a gradual Near-decoupled and asymptotically stable system.On the premise of the three rotation angles and the three attitude angles, the attitude deviation is selected as the new state variable, and when the angular deviation equation is decoupled, the angular velocity of the body axis We should satisfy a condition and construct a class of stable system to solve the nonlinear feedback stable control law that makes this decoupling condition asymptotic. The resulting asymptotic stability system can be either linear or non-linear The attitude control system of a satellite is numerically simulated and the simulation results show the effectiveness of the method.