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研究生：	壽鶴年 Show, Long-Life
論文名稱：	非線性強健控制設計方法於人造衛星姿態控制之研究 Spacecraft Attitude Control: A Nonlinear Robust Control Approach
指導教授：	莊智清 Juang, Jyh-Ching
學位類別：	博士 Doctor
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2002
畢業學年度：	90
語文別：	英文
論文頁數：	137
中文關鍵詞：	慣性輪控制、推力控制、漢彌爾敦-甲可畢不等式、非線性強健控制、衛星姿態穩定控制、衛星姿態追蹤控制
外文關鍵詞：	attitude stabilization control, wheel control, thruster control, nonlinear robust control, attitude tracking control, Hamilton-Jacobi-lsaacs inequality
相關次數：	點閱：126 下載：13
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本論文探討人造衛星姿態控制問題，採用非線性強健控制方法設計出具有扺抗外擾、抑制內部不確定性及最小燃料消耗控制器。本文將衛星姿態控制問題分為姿態穩定和姿態追蹤兩部份，衛星姿態穩定問題分成推力控制和慣性輪控制；衛星的姿態穩定控制，使用推力控制時採用線性矩陣不等式(LMI)、非線性和非線性混合設計出推力控制時控制律；慣性輪控制時採用非線性控制設計。衛星姿態追蹤控制在動態誤差函數下採用非線性控制器和比例積分微分(PID)控制器求得衛星姿態追蹤控制律。本論文中所提出控制法則應用至中華衛星三號，進行模擬以驗証對衛星姿態強健穩定與強健性能控制。

In this dissertation, nonlinear control , mixed and LMI control design methods are proposed to solve large-angle robust attitude control and tracking of spacecraft. The robust attitude control problem is formulated as thruster control and wheels control where the desired stability and disturbance rejection are achieved. For the ROCSAT-3 spacecraft, a highly accurate and robust attitude control is desired during the orbit-raising phase and the other mission modes. The three-axis attitude control is achieved using 1) four body-fixed, canted thrusters or 2) a cluster 4 wheels. The nonlinear dynamic equations of the satellite are derived and the control requirements are stated. The dissertation investigates both attitude stabilization and tracking problems. As to the former, the nonlinear controller parameters are designed using nonlinear control , mixed and linear matrix inequality (LMI) method in thruster and wheels control models. As to the latter, the nonlinear controller that asymptotically tracks a desired reference trajectory under parameter variations and external disturbance is investigated. Asymptotic tracking is ensured under suitable restraints of the reference inputs. Simulation results based on the ROCSAT-3 system are then presented to demonstrate the proposed design method.

中文摘要	I
Abstract	II
Acknowledgment	IV
Contents	V
List of Figures	VII
List of Table	VIII
Nomenclature	IX
	
Chapter 1 Introduction	1
     1.1 Motivation 	3
     1.2 Contribution	6
     1.3 Organization	7
	
Chapter 2 Differential Game and Nonlinear Control 	8
     2.1 Differential Game and Nonlinear Control Theory 	8
       2.1.1 Differential Game Theory	10
       2.1.2 Disturbance Attenuation via State Feedback	13
       2.1.3 Nonlinear Control Under Uncertainties	15
     2.2 Nonlinear Mixed Control Theory	18
       2.2.1 Sufficient Conditions for Static-State Feedback	19
       2.2.2 Nonlinear Control Under Uncertainties	20
	
Chapter 3 Attitude Stablilization Based on Thruster Control 	24
     3.1 Introduction	24
     3.2 Formulation of Thruster Control Problem	26
     3.3 Nonlinear LMI Control Approach	29
       3.3.1 Formulation of LMI Control Problem	30
       3.3.2 LMI Controller Synthesis	34
       3.3.3 Nonlinear Performance	44
       3.3.4 Simulation Results	49
     3.4 Nonlinear Control Approach	50
       3.4.1 Formulation of Control Problem	51
       3.4.2 Controller Synthesis	52
       3.4.3 Simulation Results	55
     3.5 Nonlinear Mixed Approach 	56
       3.5.1 Formulation of Nonlinear Mixed Control Problem	57
       3.5.2 Nonlinear Mixed Controller Synthesis	58
       3.5.3 Simulation Results	63
     3.6 Summary	64
	
Chapter 4 Attitude Stablilization Based on Wheel Control 	65
     4.1 Introduction 	65
     4.2 Formulation of Wheel Control Problem	66
     4.3 Nonlinear Wheel Control Law	68
     4.4 Simulation Results	71
     4.5 Summary	72
	
Chapter 5 Attitude Tracking Control	73
     5.1 Nonlinear Tracking Control	73
5.1.1 Introduction	74
5.1.2 Problem Formulation	75
5.1.3 Nonlinear Control Law	78
5.1.4 Simulation Results	81
     5.2 Robust PID Control Design for Spacecraft Attitude Tracking	82
5.2.1 Introduction	82
5.2.2 Problem Formulation	83
5.2.3 PID Control Law	86
5.2.4 Simulation Results	92
     5.3 Summary	93
	
Chapter 6 Conclusion	95
	
References	97
Figures	101
Tables	126
Appendix	130
Publication list	134
Vita	137
                                    

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校內：2003-07-23公開
校外：2003-07-23公開

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