High-Gain Integral Dynamic Compensation Robust Control for a Satellite with Mobile Body
A robust control law using high-gain integral dynamic compensation is introduced for the slew maneuver control of a satellite with one mobile body. The movement of such a mobile body disturbs the satellite attitude and changes the inertia of the whole satellite significantly. The proposed method regards the model uncertainties and exogenous disturbances as unknown inputs to the plant and then a high-gain integrator together with a lead filter is used as an unknown input observer. The observed values are used to compensate the dynamic uncertainties. The unit quaternion is used to represent the orientation which allows overcoming problems arising from representation singularities. The kinematics of the quaternion and angular velocity have a standard forM that the backstepping method is used and a Lyapunov candidate function is constructed. Under a certain frequency domain assumption, we can prove the boundedness of the states and the bounds can be designed to be arbitrarily small. Numerical simulation shows the effectiveness of the propsed controller.
backstepping high-gain integral dynamic compensation unknown input observer
Zhang Zhao Hu Jun
Beijing Institute of Control Engineering National Laboratory of Space Intelligent Control Beijing Institute of Control Engineering
国际会议
International Conference on Space Information Technology 2009(2009年第三届空间信息技术国际会议)
北京
英文
1-10
2009-11-26（万方平台首次上网日期，不代表论文的发表时间）