多体航天器姿态机动的终端滑模复合控制方法研究

研究了带有多种运动附件的航天器姿态复合控制问题.选取典型的两刚体对象建立了完整的动力学模型,简要分析了本体与附件的耦合关系.针对标称本体动力学方程,设计了有限时间干扰观测器估计附件对本体的耦合扰动以及外部环境干扰,在终端滑模控制器中进行主动补偿,利用扩展的Lyapunov稳定性定理证明了本体控制系统的有限时间收敛性；为减小本体机动对附件指向的影响,在附件控制器中引入对本体角加速度的补偿.仿真结果表明,所设计的复合控制系统能够较好地估计并且补偿系统的总干扰,具有较高的控制精度和较快的系统响应.

Terminal Sliding Mode Compound Control Method for Multi-Body Spacecraft Attitude Maneuver

This paper investigates the problem of attitude compound control for spacecraft with multiple moving appendages. The representative dynamical model of two-coupled rigid bodies is established and the coupling relationship is analyzed. And a finite-time disturbance observer （FTD0） is designed to estimate the disturbances introduced by appendages and the external environment. The total disturbance is actively compensated via the terminal sliding mode controller （TSMC）. By using the extended Lyapunov stability theory, the finite-time convergence of the main body＇s control system is proved. To reduce the influence of spacecraft attitude maneuver to the appendages, a controller with angular acceleration com- pensation is considered. The simulation results show that the developed method can accurately estimate and compensate the total disturbance with a high control precision and faster system response.