空间多体系统轨道姿态及机械臂一体化控制

针对在轨服务等新型任务对航天器快速机动能力的大幅提高，研究了卫星基座和机械臂构成的空间多体系统的轨道、姿态和机械臂的一体化控制设计问题。首先，建立了空间多体系统的动力学模型；然后，基于退步控制思想，设计了卫星基座、姿态与机械臂一体化控制器，并证明了系统的稳定性，由于利用了空间多体系统的所有自由度，相比传统的基座停控或只控制基座姿态而轨道停轨的方法，极大地提高了系统的适应能力，可同时实现空间大范围的轨道转移、姿态机动，同时利用机械臂对目标进行精确操作控制。通过建立完整的空间多体系统仿真模型，对控制器进行仿真，达到了同时进行轨道、姿态及机械臂末端机动的控制目的，并验证了所提方法的有效性。 

Integrated orbit,attitude and manipulator control of space multi-body system

The rapid maneuver ability is widely required for spacecraft aiming the on-orbit servicing tasks. The integrated orbit, attitude and manipulator control was designed for the space multi-body system, which is composed of the satellite base and manipulator. First, the dynamic model of the multi-body system was established. Then, the integrated orbit, attitude and manipulator controller was designed via back stepping method, and the stability of the system was proved. Since all the degrees of freedom are controlled, the abilities of the system to fulfill different tasks are markedly improved, compared to the traditional system whose orbit or attitude is free. Thus, the system with the integrated controller can fulfill simultaneous orbit transfer and attitude maneuver in a large range of space, and meanwhile the manipulator can operate and control accurately. Finally, by establishing complete multi-body system simulation model, the controller was simulated, and the goal of simultaneous orbit, attitude and manipulator control is achieved. The effectiveness of the proposed method is validated.