The invention discloses a preset performance attitude tracking control method based on a precise penalty function. The method comprises the following steps: establishing an attitude error model, a preset performance function and a preset performance constraint of a rigid spacecraft; and then based on a precise penalty function method, establishing a spacecraft attitude tracking optimal control problem under preset performance. And finally, solving the preset performance optimal control problem by adopting a control parameterization method. According to the invention, transient performance constraint can be realized to set the convergence speed of the attitude error; and steady-state performance constraint can be realized, namely, the attitude tracking error of the spacecraft in a steady state can be set. Based on a precise penalty function method and a control parameterization method, an optimization problem of preset performance constraints can be converted into a processable nonlinear programming problem.
本发明公开了一种基于精确罚函数的预设性能姿态跟踪控制方法,采用建立刚性航天器的姿态误差模型、预设性能函数和预设性能约束;而后基于精确罚函数法,建立预设性能下的航天器姿态跟踪最优控制问题。最后采用控制参数化法求解该预设性能最优控制问题。本发明能够实现暂态性能约束,用以设定姿态误差的收敛速度;能够实现稳态性能约束,即可以设定稳态时的航天器姿态跟踪误差大小。基于精确罚函数法和控制参数化法,能够将预设性能约束的优化问题转换为一种可处理的非线性规划问题。
Accurate penalty function-based preset performance attitude tracking control method
一种基于精确罚函数的预设性能姿态跟踪控制方法
2024-05-07
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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