欠驱动再入飞行器的抗饱和姿态控制器设计

针对只有两个舵的欠驱动再入飞行器,设计了具有抗饱和功能的姿态跟踪控制器.控制器的设计过程中,首先将姿态运动学与动力学模型分解成慢回路和欠驱动的快回路,然后分别针对快回路和慢回路设计了超扭曲滑模控制器和分层滑模控制器,最后通过仿真验证了该方法的有效性.

Attitude Tracking of the Under-actuated Reentry Vehicle with Actuator Saturation

In this paper,an attitude tracking controller for the under-actuated reentry vehicle with only two actuators is designed in the presence of actuator saturation and disturbance. During design of the controller,the attitude kinematics and dynamics model of under-actuated reentry vehicle is firstly divided into a slow-loop subsystem and a under-actuated fast-loop subsystem. And then a super-twisting sliding mode controller and an adaptive hierarchical sliding mode controller are designed separately for the slow-loop subsystem and fast-loop subsystem. Finally,the validation of the method is verified through simulation.