基于矩阵分解的空间系绳系统不完全反馈控制

针对利用空间系绳系统（STS）进行面内捕获过程中系绳展开后状态保持阶段及捕获完成后系统面内运动抑制等问题，在面内角和面内角速率信号丢失情况下，基于矩阵分解采用不完全状态反馈控制方法，设计出能够抑制系绳展开完成后所出现的非标称行为、捕获后面内摆动的张力控制律，进而使系统回稳。将所设计的控制律与线性二次调节器（LQR）+降维观测器方法对比，在参数不确定的条件下检验该控制律的控制效果。仿真结果表明，所设计的控制律在超调量和调节时间上优于LQR+降维观测器方法，能够有效控制系绳的展开误差及捕获过程所带来的面内扰动。所设计的控制律结构简单，控制效果良好，且设计过程无需参数调整。 

Matrix decomposition based control for space tether system with incomplete state feedback

A solution to the stage of state-keeping after tether deployment or stage of tether in-plane motion stabilization after payload capture with space tether system (STS) in the case of incomplete state feedback is proposed, which is based on matrix decomposition. Feedbacks of in-plane angle and its angular velocity are assumed to be absent. Tension controller is designed to surpass tether non-normal behavior after deployment and in-plane swing in-plane after payload to make the system return to stable state. Conventional combination method of linear quadratic regulator (LQR) + reduced dimension observer is also introduced for comparison with the proposed controller. Effectiveness of the proposed controller is validated with perturbed parameters. The simulation results indicate that the proposed control law demonstrates better performance in overshoot and settling time than LQR + reduced dimension observer method. Deployment error of tether and in-plane perturbation are effectively controlled by the proposed control law. The proposed control law has the advantages of structural simplicity, good control effectiveness, and no parameter adjustment in design process.