中文摘要：

提出了一种基于分区控制策略的四元数姿态控制律。其基本思想是基于姿态四元数误差分区设计目标角速度,由此将问题降阶为一个角速度跟踪问题;基于不同的角速度跟踪误差,设计了切换类型的抗干扰姿态控制律。该控制策略可以使得姿态快速收敛,并且在合适的参数选择条件之下还能同时满足控制力矩的饱和约束。通过综合相平面和Lyapunov函数的分析方法严格证明了闭环系统全局收敛的性质。最后,通过数值仿真验证了本文提出的控制方案的有效性。

英文摘要：

A novel controller based on quaternion partition is proposed for controlling rigid-body attitude with constant dis- turbances. By partitioning the quaternion into different regions, different virtual angular velocities are determined, and the con- trol problem is reduced to tracking these virtual angular ve- locities. Then, switching laws for angular velocity tracking are also designed depending on the angular velocity tracking errors. The closed-loop system enjoys the property of fast attitude con- vergence, and the requirement of actuator saturation can also be satisfied through appropriate choice of relevant parameters. By means of phase plane and Lyapunov stability analysis, it is proven that the closed loop is globally convergent. Finally, the effectiveness of proposed method is illustrated by numerical simulations.