有扰情况下航天器全局稳定姿态跟踪控制

许多空间飞行任务要求航天器姿态跟踪控制。由于航天器在跟踪过程中不可避免要受到各种干扰，因此有必要研究有扰情况下航天器的姿态跟踪问题。本文率先针对存在常值扰动和正弦扰动情况时的姿态跟踪控制问题，采用退步法和内模原理设计了基于误差四元数的姿态跟踪控制律，并结合Lyapunov直接法和Barbalat引理证明了系统的全局渐近稳定性。理论分析和数学仿真结果表明该控制律能使系统全局渐近稳定，能够有效消除常值干扰和正弦干扰的影响。

Globally Stable Attitude Tracking Control for Spacecraft under Disturbances

The attitude tracking control of spacecraft is demanded in many missions.There exists many kinds of disturbances when spacecraft perform the task,hence it is necessary to consider the problem in the presence of disturbances,which is the main topic of the paper.The paper took the lead in dealing with the attitude tracking control problem for spacecraft under constant disturbance and periodic disturbance,where the backstepping method and the internal model principle were applied to design the control law based on the unit quaternion.By combining the Lyapunov direct method with the Barbalat's lemma,the paper also discussed the global stability of the controller.The analytical and simulation results show the effectiveness of the controller.