基于干扰观测器的小卫星自适应积分滑模姿态控制

针对飞轮摩擦力矩和外界干扰力矩对小卫星姿态控制精度的影响,设计了一种自适应积分滑模控制器。首先通过设计干扰观测器来补偿飞轮摩擦力矩,并给出了干扰观测器能稳定工作的条件。针对滑模控制器存在的抖振问题,通过对切换增益设计自适应律来减弱抖振,然后基于干扰观测器和自适应律设计了自适应积分滑模控制器,理论证明了该控制器的稳定性。最后通过对小卫星姿态控制进行数字仿真,在控制器作用下,小卫星实现了 0.001°的控制精度,同时具有较小的抖振幅度,证明了所设计控制器的优越性。

Small Satellite Adaptive Integral Sliding Mode Attitude Control Based on Disturbance Observer

This brief designs an adaptive integral sliding mode controller to reduce the influence of flywheel friction torque and external disturbance torque. Firstly, the disturbance observer is designed to offset the friction torque of the flywheel, and the conditions for the stability of disturbance observer are given. The adaptive law of the switching gain is designed to weaken the chattering problem that sliding mode controller have. Then the adaptive integral sliding mode controller is designed based on the disturbance observer and the adaptive law. The stability of the controller is proved. The simulation results show that the small satellite can achieve 0.001 degree of attitude control precision with little chattering under the action of the controller, which proves the superiority of the controller.