关键词: 航天器, 姿态跟踪, 变速控制力矩陀螺, 自适应控制, 鲁棒控制, 非线性系统

Abstract:

This paper deals with the attitude tracking of spacecraft with single-gimbal variable-speed control moment gyroscopes(VSCMGs) as actuator. The quaternion is used to describe the attitude, and the attitude error includes rotation matrix from desired attitude to current one. Considering actuator model parameter uncertainties and external disturbances, the spacecraft equations of motion are fully nonlinear and can be represented as a multiple-input-multiple-output(MIMO) system. The adaptive robust controller is derived based on Lyapunov theorem, and a smooth projection algorithm is then applied to keep the parameter estimates from singularity. Simulation results show that the proposed law attenuates the attitude error obviously, and successfully deals with the external disturbances and unknown misalignment of the axis directions of the actuators due to installation error or wearing out of the mechanical parts.

Key words: spacecraft,  , attitude , tracking,  , VSCMG,  , adaptive , control,  , robust , control,  , nonlinear , system