基于开关执行器的空间飞行器大角度姿态控制

针对空间飞行器姿态控制系统采用开关式姿控发动机的特点，研究了空间飞行器大角度机动三通道耦合姿态控制问题。为克服大角度机动时使用欧拉角可能产生的奇异问题，采用四元数描述的空间飞行器姿态运动数学模型，应用Lyapunov方法设计了控制量受限情况下的基于误差四元数的大角度姿态运动变结构控制器，并给出了严格的数学证明。为了避免控制律中的颤动问题，用边界层来代替控制律中符号函数。给出了从一种静态到另外一种静态的姿态跟踪四元数指令确定方法。数值仿真结果说明了所提出的控制器的有效性。

Large angle attitude control of spacecraft based on on-off actuators

Considering the switching-type characteristic of attitude control actuators used in spacecraft three loop coupling attitude control systems, a large angle attitude maneuver control scheme of spacecraft is proposed. To avoid the singularity due to the use of Euler angle in large angle attitude maneuvers，the attitude kinematics of the spacecraft is described by quaternion. A variable structure controller with bounded inputs is designed by the method of Lyapunov and the stability of the system is proved. In order to avoid chattering, a boundary layer is used to replace the sign function in the variable structure control law. The rest-to-rest attitude tracking control problem is simulated. Numerical simulation results show the effectiveness of the proposed attitude control method.