نویسندگان

دانشگاه صنعتی امیرکبیر - مهندسی مکانیک

چکیده

در مقاله حاضر، برای کنترل حرکت نسبی در حرکت آرایشی فضاپیما، یک کنترلر مود لغزشی بهینه طراحی می‌شود. این کنترلر براساس معادلات خطی حرکت نسبی در مدار دایروی، طراحی شده و روی سیستم غیرخطی که تحت اغتشاش خارجی است، اعمال می‌گردد. در ابتدا کنترلر بهینه به روش خطی مرتبه دو طراحی و سپس برای مقاوم‌سازی آن، روش کنترلی مود لغزشی انتگرالی به‌کار گرفته می‌شود. در این تحقیق، فرض می‌شود که فضاپیماها در مدارات پایین‌زمین حرکت می‌کنند و اغتشاش حاصل از عدم کرویت زمین (J2)به عنوان اغتشاش خارجی لحاظ می‌گردد. پایداری سیستم حلقه بسته توسط روش دوم لیاپانوف اثبات شده و عملکرد کنترلر مود لغزشی بهینه در تعقیب آرایش مطلوب با کنترلر مود لغزشی مقایسه می‌شود. نتایج شبیه سازی عملکرد موثر کنترلر پیشنهادی را نشان می‌دهد

کلیدواژه‌ها

عنوان مقاله [English]

Robust Control of Spacecraft Formation Flying Using Optimal Sliding Mode

نویسندگان [English]

  • A. Imani
  • M. Bahrami

چکیده [English]

In this paper, in order to control the relative motion for spacecraft formation flying, an optimal sliding mode controller is presented. This controller is designed based on the linearized equations of relative motion in circular orbit and applied to nonlinear system that is subjected to external disturbance. Firstly optimal controller is designed based on linear quadratic (LQ) method, and then integral sliding mode control technique is used to robustify the controller. It is assumed that spacecrafts move in low-earth orbits and J2 perturbation is considered as external disturbance. Using Lyapunov second method, the stability of the closed-loop system is guaranteed. The performance of the proposed controller in tracking the desired trajectory is compared to sliding mode controller and simulation results show the effective performance of the proposed controller.

کلیدواژه‌ها [English]

  • spacecraft formation flying
  • Relative motion in circular orbit
  • Optimal sliding mode control
  • Integral sliding mode control
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