航天器姿态滑模变结构控制系统的设计

给出了航天器三轴动力学和四元数姿态运动学方程。在分析滑模变结构控制的基本原理和设计方法的基础上，通过二次型最优法解出航天器姿态角速度与姿态角之间的函数关系，进而得到滑动平面。在此基础上，应用滑模变结构控制方法对航天器姿态控制系统进行了设计和仿真，并与PID控制系统进行了分析比较。仿真结果表明，滑模控制系统具有良好的动态品质和稳态性能，体现了变结构控制的突出优点，对系统摄动和外加干扰具有极强的鲁棒性和自适应性。

Variable-Structure Control with Sliding Mode of Spacecraft Attitude Maneuvers

The rotation dynamic equation and the quaternion kinetic equation of spacecrafts are given. The principles and design methods for variable-structure control (VSC) theory are analyzed. The sliding mode is obtained by solving an optimal control problem and the angular velocities of the spacecraft as functions of the attitude variables are solved. A variable-structure control system with sliding mode is designed and simulated for spacecraft attitude maneuvers. Simulational results show that the transient and steady state performance of the control system is satisfactory. A comparison between the VSC system and a PID control system shows that variable-structure control has very good robustness and adaptation to external disturbance.