The invention belongs to the technical field of detector attitude tracking control, and particularly relates to a detector flying-around asteroid attitude tracking control method based on adaptive iterative learning, which comprises the following steps: step 1, outputting two state variables, namely attitude and angular velocity, by a detector mathematical model; 2, the attitude and the angular velocity are fed back to the input end of a control system, the attitude and the angular velocity are subtracted from a given expected attitude and a given expected angular velocity respectively, and an error attitude and an error angular velocity are obtained; 3, establishing a detector attitude tracking error system according to the two error states, regarding uncertainty and external interference in the system as total disturbance, and estimating the total disturbance through an adaptive law; and 4, designing an attitude tracking controller based on a self-adaptive iterative learning algorithm. The invention provides a self-adaptive iterative learning controller design method based on an all-drive system method and sliding mode control. The designed adaptive iterative learning controller has the characteristics of excellent control performance and less adjustment parameters.
本发明属于探测器姿态跟踪控制技术领域,具体涉及一种基于自适应迭代学习的探测器绕飞小行星姿态跟踪控制方法,包括以下步骤:步骤1:由探测器数学模型输出两个状态变量,分别为姿态与角速度;步骤2:将姿态与角速度反馈回控制系统的输入端,分别与给定的期望姿态和期望角速度作差,得到误差姿态与误差角速度;步骤3:根据两个误差状态建立探测器姿态跟踪误差系统,系统中的不确定性与外部干扰被视为总扰动,通过自适应律来估计;步骤4:基于自适应迭代学习算法设计姿态跟踪控制器。本发明提出了基于全驱系统方法和滑模控制的自适应迭代学习控制器设计方法;设计的自适应迭代学习控制器具有控制性能优异且调节参数较少的特点。
Detector flying-around asteroid attitude tracking control method based on adaptive iterative learning
一种基于自适应迭代学习的探测器绕飞小行星姿态跟踪控制方法
2025-05-02
Patent
Electronic Resource
Chinese
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