航天器姿态跟踪系统的非线性鲁棒自适应控制

研究有未知惯量矩阵和干扰力矩的刚体航天器姿态跟踪。对此类多输入多输出、不确定非线性系统，提出了一种非线性鲁棒自适应控制策略，用Lyapunov直接法分析了闭环系统稳定性。理论分析表明，该控制器不仅保证闭环系统一致最终有界稳定，航天器姿态跟踪误差收敛至系统平衡点的一个较小领域，而且使闭环系统对航天器惯量参数有自适应能力，对有界干扰力矩具鲁棒性。仿真结果表明：所设计的非线性鲁棒自适应控制器有效。

Nonlinear Robust Adaptive Control for Spacecraft Attitude Tracking System

The attitude tracking control of rigid spacecraft within the unknown inertia matrix and external disturbances was researched in this paper. For this class of uncertain nonlinear system with multi-input and multioutput, a nonlinear robust adaptive controller was put forward, and the stability of the closed-system was proven by using Lyapunov＇ s direct method. That the closed-system was uniformly and ultimately bounded stable was guaranteed by the derived controller, and the attitude tracking error of the rigid spacecraft was converged to a small neighborhood of the equilibrium point. The closed-system with the derived controller was adaptive to inertia parameters and robust to bounded disturbances. The simulation results showed that the proposed robust adaptive controller was effective.