Điều khiển bám tư thế vệ tinh với nhiều tham số bất định

Tap chi Tin hgc va Bieu khien hgc, T.26, S.3 (2010), 225-232

DIEU KHIEN BAM TU" THE VE TINH VO^I NHIEU THAM SO BAT DINH

PHAM MINH TUAN

Vien Cong nghe Thong tin, Vien Khoa hgc vd Cong nghe Viet Nam

Tom tat. Bai bao de xuat mot phuang phap dfeu khien bam tu the ve tinh khi khong biet rd gia

tri ciia ma tran mdmen quan tinh ciia ve tinh va cac mdmen nhieu tac dong len he dong luc ve tinh.

Phuang phap de xuat cd sii dung mot mang naron nhan tao vdi cac trpng sd hoc on-line de tao ra

tin hieu xap xi tac dong ciia cac thanh phan bat dinh va bio dim sai lech bam ludn bi triet tieu khi

cd nhieu tac dong vao he thdng. Do on dinh tiem can ciia he thdng dfeu khien su dung mang naron

dugc chiing minh chat che ve mat toan hoc sir dung ly thuyet on dinh Lyapunov.

Abstract. This paper proposes a tracking control method of the satellite attitude with the satellite's

inertial moment matrix and the noise moments acting on the satellite dynamics and being not precisely

known. The proposed methodology uses an artificial neural network with its weight coefficients being

online trained to generate the approximation signal of the uncertain parameters and to ensure that

the tracking error converges to zero when the noise is acting on the satellite system. The asymptotical

stability of the control system using the neural network is strictly mathematically proven by applying

the Lyapunov stability theory.

1. DA T VA N D E

Ve tinh ngay cang dugc irng dung rpng rai trong cic nganh thong tin truyen thdng, giim

sit phdng chdng thien tai va an ninh qudc phdng. Viec dieu chinh tu the ve tinh cd tam quan

trgng die biet trong sudt qu i trinh hoat ddng ciia ve tinh vi nd dim bio cho cac thiet bi tren

ve tinh nhu camera quan sat, ang ten thdng tin ve tinh, cic tam pin mat trdi thu nang lugng

cho hoat ddng ciia ve tinh cd hudng hoat ddng chfnh xic tren quy dao chuyen dong lien tuc

ciia ve tinh. He ddng luc ciia ve tinh Ii mdt he phi tuyen vdi nhieu tic ddng xuyen cheo,

cd nhieu tham sd bat dinh nhu mdmen quin tfnh, vi tri trgng tam ciia ve tinh. Ngoai ra cd

nhieu mdmen nhieu khdng biet chfnh xic tic dong len ve tinh nhu mdmen nhieu biic xa mat

trdi, mdmen nhieu khi quyen, mdmen nhieu tir trudng v.v. De dan giin trude diy cic md

hinh he dong hgc v i ddng luc hpc tu the ve tinh thudng dugc tuyen tfnh hoi va cic vdng

dieu khien phin hoi tuyen tfnh nhu dieu khien PID, dieu khien tdi uu toan phuang LQR

dugc i p dung de on dinh tu the ve tinh [1, 2, 3]. Vdi su phit trien ciia cdng nghe ve-tinh

cic phuang phip dieu khien phi tuyen [4, 5, 6], dieu khien tu thich nghi [7, 8, 9, 14] da dugc

nghien cuu va i p dung. Hien nay cac phuang phip dieu khien thdng minh cd su tham gia

ciia mang naron, he md va thuat gen dang dugc chii y vi nd cho khi nang tu hgc trong qu i