%0 Journal Article
%T 航天器对接的全局渐近稳定控制<br>Global asymptotically stable control for spacecraft docking
%A 魏伟
%A 左敏
%A 苏婷立
%A 杜军平
%J 清华大学学报（自然科学版）
%D 2016
%R 10.16511/j.cnki.qhdxxb.2016.23.016
%X 与基于推力器对接方式相比, 航天器电磁对接具有无推进剂消耗、无羽流污染、无对接冲击的优势。然而, 航天器对接固有的高度非线性、不确定性以及强耦合性极大地限制了航天器对接控制的性能。该文在远场电磁力模型及Hill模型组成的电磁对接动力学模型的基础上利用非线性变换将非线性电磁对接控制模型线性化, 设计全局稳定控制律; 基于Lyapunov函数获得了航天器电磁对接控制全局渐近稳定的充分条件。仿真结果证实了空间电磁对接控制的有效性。<br>Abstract：Spacecraft docking with electromagnetic mechanism has obvious advantages over traditional docking methods, such as no propellant consuming, no plume contamination or docking impact. A dynamic model for electromagnetic docking was employed based on the far-field electromagnetic force model and Hill's model. High nonlinearity, uncertainty and coupling make docking control a challenging work. A transformation was utilized to linearize the nonlinear docking model with a control approach based on Lyapunov function designed for spacecraft docking. Sufficient conditions were obtained for global asymptotical stability with simulations being performed. Both theoretical and numerical results support the proposed control approach.
%K 电磁对接
%K 非线性控制
%K 全局渐近稳定
%K &lt
%K br&gt
%K electromagnetic docking
%K nonlinear control
%K global asymptotical stability
%U http://jst.tsinghuajournals.com/CN/Y2016/V56/I1/106