航天器姿态控制输入饱和问题综述

针对航天器姿态控制输入饱和问题的解决方法进行了梳理和归纳，将技术途径主要分为三类，对每一类中具体方法的设计思想、数学形式及工作特征进行了分析与比较，总结得出特点、效果效用以及适用范围，主要有：1) 控制律整体考虑饱和类：如饱和函数法、限幅函数法、切换函数法、抗饱和控制等。由于可高效发挥执行机构能力，但形式复杂，适用于对调节时间有要求、计算能力强的航天器快速姿态机动任务；2) 控制律各项分别考虑饱和类：如类PD控制、反步法等。由于设计简单，但执行机构不能充分利用，适合对调节时间无要求或低成本小卫星的姿态调节任务；3) 考虑饱和约束的优化类：如时间/能量/燃料最优控制及混合指标最优等。由于可用于多约束指标最优问题，但计算量大且依赖精确数学模型，适合于大型航天器的最优姿态机动任务或未来航天器控制任务。本文工作以期为实际任务提供有效支撑。

Review on Input Saturation in the Spacecraft Attitude Control

The existing methods to solve the control input saturation problem are summarized and divided into three main technical approaches. Then systematically analyze and compare the design ideas, mathematical forms and working characteristics of each methods. Summarize and analyze the effectiveness and area of application of the three technical approaches mainly including as follow in order to provide effective support for practical tasks. 1) Control law considering saturation as a whole: including saturation function, limiting function, switching function, anti saturation control, etc. Due to the high efficiency of actuator and complex form, it is suitable for the fast attitude maneuver missions of spacecraft with high computing power and adjusting time. 2) Control law considering saturation every item separately, including PD type control, backstepping control, etc. This technical approach has simple design and insufficiently utilization of the actuator which is suitable for attitude regulation with no time requirement or low cost small satellites. 3) Optimization considering saturation constraints: including time/energy/fuel optimal control and hybrid index optimal control, etc. This approach, which has high computation and dependence on accurate mathematical model, is suitable for the optimal attitude maneuvers of large spacecraft because of solving multiple constraints optimal problem.