NGHIEN CQU KHOA HOC k ^ Dieu khien bam tir the ve tinh vffi nhieu tham so bat dinh "Satellite Attitude Tracking Control with Uncertain Parameters" Cat r I'liiim and Minhtuan Pham Pham Minh Tuan Pham Thurgrng Cat Tmng tam dieu kiiien va khai thac \'c tinh Vipn Cong ngh? Vu try Vi$n KH&CN VN Ha Npi, Vi^tNam Email: pmtuan(q)sti.vast.ac.vn Ph6ng Cong nghe Tv dpng hoa Vi^n Cong ngh? Thong tin Vien KH&CNVN HA Npi Viet Nam Email ptcat@ioit ac \r\ Phan bien 1: GS TSKH Nguyin Khoa Som Vien KH va CN Viet Nam Phan bien 2: PGS TS Phan Xuan Minh, Dai hpc Bach Khoa Ha Npi Tom tat - Bai bao de xuat mot phinmg phap dieu khien bam tu the ve tinh lUiong biet ro gia tri cua ma tran mo men quan tinh cua ve tinh va cac mo men nhieu tac dong len he dong lire ve tinh Phutmg phip de xuat CO su- dung mot mang na ron nhan tao \6i cac so hoc on-line de tao tin hieu xap xi tac dong cua cac phan bat djnh \k bao dam sai lech bam luon b| triet tieu co nhieu tic dpng vao he thong Dp on dinh tiem can cua he thong dieu khien sir dung mang nor ron duwc chung minh chat che ve mat toan hoc su dung 1^ thuyet on d|nh Lyapunov Abstract: This paper proposes an approach for tracking control of the satellite attitude when the satellite's inertial moment matrix and the environmental torques affecting on the satellite are unknown The proposed approach uses an artificial neural network (ANN) with onlinelearning weights to generate the estimate of the uncertain parameters while assuring that the tracking error is always nullified when noises affect on the system The asymptotical stability of the control system using an ANN is strictly mathematically proven using the Lyapunov stability theorem Keywords: Aerospace, neural neth'ork control, learning algorithm I DATVANDfi Ve tinh cang dupc Ung dyng rpng rai cac nganh thdng tin truyen thong, giam sat phdng chong thien tai va an ninh quoc phdng Viec dieu chinh tu the v$ tinh cd tam quan trpng dac bi?t suot qua trinh hoat dpng ciia v? tinh vi nd dam bao cho cac tliiet bi tren v? tinh nhu camera quan sat, Sng ten thdng tin ve tinh, cac tam pin mat trdi thu nang lupng cho hoat dpng ciia ve tiiih cd hudng hoat dpng chinh xac tren quy dao chuyen dong hen tuc ciia v? tinh He ddng luc ciia ve tinh la mot he phi tuyen vdi nhieu tic dpng xuyen cheo, cd nhieu tham so bat dinh nhu md men quan tinh, v} tri trpng tam ciia ve U lu dpng hoa / 1 , 2011 tinh Ngoai co nhieu mo men nhieu khong biet chinh xac tac dpnj len \ e tinh nhu md men nhieu bUc xa mat trdi, mo men nhieu quyen, mo men nhieu tir trudng \-\- E)e don gian tnrdc day cac md hinh he ddng hpc v a dpng lire hpc tu the ve tinh thucmg dupc tuyen tinh hoa \ a cac \ong dieu khien phan hoi tuyen tinh nhu dieu khien PID, dieu khien toi uu toan phuong LQR dupc ap dung de 6n djnh tu th^ \e tinh [1][2][3] Voi s\r phat trien cvia cong nghe ^ C tinh cac phuong phap dSeu khien phi tuyen [4][5][6], dieu khi^n tu thich nghi [7][8][9][14] da dupc nghien cuu \a ap d\ing Hi^n na\ cac phuong phap dieu khien thong minh co s\r tham gia ciia mang no ron he ma va thu|t gen dang dugrc chii y \i no cho kha nang t\r hpc qua trinh ho^t dpng ciia v$ tinh dam bao khac phyc dupc nhflng sinh huong ciia s\r thay doi ciia cac thong so va nhilu tac dpng len vc tinh [10][11][12][13] Bao cao de xuat mpt phuong phap dieu khien tu the v? tinh CO tinh ben vOng va t\r thich nghi cao sii dung mang no ron hpc_ on-line de bii cac tac dpng ciia s\r bat dinh va mo men nhilu khong biet trudc h? phuomg trinh mo ta chuy^ dpng ciia tu the v? tinh Bai bao gom phan Sau phan md dk la phan mo ta mo hinh ciia h$ dieu khien bam tu the v? tinh Phan thir de xuat phuang phap dieu khien ben vilng sii d\mg m^ng no ron nhan t?io va chiing minh tinh on djnh toan eye ciia phuong phap P h ^ cuoi la phan ket luan II MO HtNH T O A N C C A H B DifiU KHifiN B A M Tl/ THfiVBTINH He phuong trinh dpng luc tu the ve tinh co dgng [3]: Jcb = -ci>''J^ khong biet f De xac djnh T' ta can biet dupe f Sii dimg mang na ron nhan tao ta co the xap Xl dupe f' Truae tien ta xac dinh bien phu s nhu sau: ff + Aff, V >0 s,w, 5tO f -> M s,w, - > « va V = chi s,w, =0,/ = L2,3 Lay dao ham (33) theo thai gian V co dang : (34) 1=1 Tir va K^ = D + A, K , = DA D = D'^ > ta co s = ff, +A«, (27) = - K X - K , « , + T ' - f ' + A«, (35) = T-f'-Ds c la sai so xap xi, f la dau eiia mang na ron, f = Wy (33) d day w, la ept thir / ciia ma Iran trpng so W (26) A la ma Iran doi ximg xac dinh duang A = A^ > CO the chpn tu Nhu \ ay neu ta bao dam dupe s -> thi vcji A xac dinh duong ta eo w, -> 0, o, -> Ta chpn mang na ron de xap xi f nhu sau: f'=f + c Chpn him I' xac djnh duong nhu sau : (28) ThuN the (35) \ao (34) ta dupc (36) day Y = [ Xp X2' ^3 ] '^ '^^^ ^°' ^^^ ham Gauss co dang : 1=1 r Yj = exp s —c / ;;• = 1,2,3 (29) Vdi thu$t hpc on-line (32) ta xac djnh dupc: w, =-;/$>',:/ = 1,2,3 / J vei c^,Xj la cac tham so ciia ham Gauss dupc chpn tuang (38) thich vdri vimg gidi han ciia f W la ma tran trpng so lien ket ldp an vdi dau Ta can xac dinh luat hpc ciia ma Iran trpng so de m?ing hpi tu Do AJ, Ad la cac dai lupng bi chan nen ta ciing se co f' bj chan ||f'||