Synergistic Potential Functions for Constrained Attitude Control of Rigid Spacecraft
A synergistic potential functions design method considering attitude constraints is proposed to ensure the global convergence of attitude while always satisfying attitude constraints during the attitude maneuver.First,an attitude pointing constraint model is developed,and a soft constraint region is designed for each pointing con-straint.Then,a family of synergistic potential functions is designed based on the"angular warping".Next,using the common fractional and logarithmic forms of repulsive potential functions,a potential function considering the attitude constraint is designed in the soft constraint region by using the synergistic potential functions and a meth-od to adjust the distribution of critical points in the soft constraint region by controlling the parameters of this po-tential function is given.Finally,the designed potential function is used in the controller design.The effectiveness of the proposed method is verified by numerical simulations using proportional-derivative control as an example.
Spacecraft controlsynergistic potential functionsattitude constraintsattitude controlthree-dimen-sional special orthogonal group(SO(3))
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维普
