基于非线性模型预测的绳系系统系绳摆振控制

针对绳系系统离轨稳定控制问题，开展了系绳和绳端卫星构成的绳系系统在拖拽离轨过程中系绳摆动稳定控制方法研究。在考虑拖拽离轨过程中约束下，首先建立了包含绳端卫星的姿态运动的模型，并建立了绳系系统的离轨动力学方程和便于控制器设计的简化动力学方程。其次根据模型预测原理以最优化方法设计参考轨迹，最后以模型预测控制方法为基础设计了稳定系绳摆动的非线性模型预测控制方法。使用MATLAB软件平台仿真，验证了所设计的参考轨迹能完成目标和模型预测控制器有好的跟踪能力。 

Tether swing control of tethered system based on nonlinear model prediction

On the stability control of the rope system, a stability control method of tether swing for tethered system consisting of tether and tethered satellites during deorbitting is proposed in this paper. In this paper, a model of motion including satellite attitude motion is eatablished, and the dynamic equation of deorbit tethered system and the simplified equation that is convenient for controller design are proposed. According to the model prediction theory, the reference trajectory is designed by the optimization method, and then the stable tether swing nonlinear model predictive control method is designed based on the model predictive control method in this paper. Then, the feasibility of the designed controller and the reference trajectory are verified by the simulation of MATLAB software platform.