大型挠性航天器的鲁棒模型预测姿态控制

针对大型挠性航天器的三轴姿态控制问题，考虑了控制输入约束，设计了鲁棒模型预测姿态控制器。首先，将模型预测控制应用到不考虑扰动的标称挠性航天器系统中，通过求解优化问题推导预测控制律，从而得到三轴姿态的标称轨迹。然后，为有效处理大型挠性附件振动对中心刚体姿态造成的扰动，针对带有扰动的挠性航天器实际姿态控制系统，设计由最优状态与实际系统状态的误差构成的辅助反馈控制器，使实际系统状态维持在以标称轨迹为中心的“管道”(Tube)不变集内，并驱使实际系统状态到达标称轨迹上，最终沿着标称轨迹到达平衡点。仿真结果表明，在鲁棒模型预测控制的作用下，实现了姿态角的快速精确跟踪，有效地处理了由大挠性附件振动对中心刚体姿态产生的扰动，增强了系统的鲁棒性。

Robust Model Predictive Attitude Control of Large Flexible Spacecraft

Considering the three axis attitude control problem of a large flexible spacecraft with control input constraints, a robust model predictive attitude controller is designed. The model predictive control is applied to the nominal flexible spacecraft system without considering the disturbance. The predictive control law is derived by solving the optimization problem, and the nominal trajectory of the three axis attitude is obtained. In order to effectively deal with the disturbance of the central rigid body attitude caused by the vibration of the large flexible appendages, the auxiliary feedback controller composed of the error between the optimal state and the actual attitude control system state is designed for the actual system of the flexible spacecraft with disturbances. The actual system state is maintained within the Tube invariant set centered on the nominal trajectory, and is driven to reach the nominal trajectory, and finally converges to the equilibrium point. The simulation results show that under the action of the robust model predictive control, the rapid and accurate tracking of the attitude angle is realized. The disturbance of the central rigid body attitude caused by the vibration of large flexible appendages is effectively rejected, and the robustness of the system is enhanced.