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针对带有输入时延的刚性航天器提出一种姿态稳定性控制方法,首先利用反步法构造李雅普诺夫控制函数,由此得到使系统全局渐近稳定的时延补偿控制器。由于航天器系统为强耦合非线性系统,基于反最优理论,对非线性时延系统构造关于系统状态量和控制力矩的目标函数,该目标函数体现了能耗的重要性,并得到相应的最优控制器。将无优化指标考虑的控制器与最优控制器进行性能比较,非最优控制器所需能量消耗较大,仿真中给出了定量分析结果。仿真结果显示,不同时延情况下,该控制器均可以有效控制航天器姿态稳定,并且对于时延估计偏差具有鲁棒性。
Aiming at the rigid spacecraft with input delay, a method of attitude stability control is proposed. Firstly, the Lyapunov control function is constructed by using the backstepping method, and the delay compensation controller that makes the system globally asymptotically stable is obtained. Because the spacecraft system is a strongly coupled nonlinear system, based on the inverse optimal theory, an objective function for the system state variables and control torques is constructed for the nonlinear time-delay system. The objective function reflects the importance of energy consumption and obtains the corresponding Optimal controller. The performance comparison between the controller without optimization index and the optimal controller shows that the energy consumption of the non-optimal controller is larger and the quantitative analysis result is given in the simulation. The simulation results show that under different delay conditions, the controller can effectively control the attitude stability of the spacecraft and is robust to the delay estimation error.