论文标题
与陀螺式偏置估计的航天器的全球指数态度跟踪
Global exponential attitude tracking for spacecraft with gyro bias estimation
论文作者
论文摘要
本文介绍了当陀螺仪测量因偏见破坏时，航天器的全球指数态度跟踪。基于收缩分析，首先设计了指数收敛的非线性观察者，以估计陀螺偏差。依靠此偏置估计量和跟踪误差的四元对数表示形式，设计了一个指数的全球收敛控制器。该控制器稳定了闭环系统的唯一平衡，在该系统中，跟踪误差是单位四元组。为了提高能源效率并在存在测量噪声的情况下增强了鲁棒性，在控制回路中纳入了宫腔切换变量，并获得了[1]中的[1]中的变量，并获得了无效的全球无效的呈指数式收敛的跟踪控制器。进行数字模拟是为了评估其在跟踪误差和能源效率方面的性能，以及陀螺仪传感器中测量噪声和时变偏置的稳健性。
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro bias. Relying on this bias estimator and the quaternion logarithm representation of the tracking error, an exponentially globally convergent controller is devised. This controller stabilizes the unique equilibrium of the closed-loop system, where the tracking error is the unit quaternion. For more energy-efficiency and enhancing the robustness in the presence of measurement noise, a hysteretically switching variable as in [1] is incorporated in the control loop and an unwinding-free globally exponentially convergent tracking controller is obtained. Numeric simulations were done to evaluate its performance in terms of tracking errors and energy-efficiency, as well as the robustness to measurement noise and time-varying bias in gyro sensors.
