基于混合执行机构的敏捷卫星姿态机动控制

单框架控制力矩陀螺(SGCMGs，single gimbal control moment gyros)的奇异问题是其在使用过程中面临的主要问题.将构型奇异度量作为路径约束，采用高斯伪谱法进行轨迹优化，得到一组无奇异框架角，并以相应的SGCMGs框架转速作为开环指令进行控制.考虑初始姿态偏差及外干扰不确定因素的影响故引入反作用动量轮(RWs，reaction wheels)，并基于Lyapunov稳定性设计了RWs的控制律进行闭环修正.仿真结果表明，采用混合执行机构能够保证卫星在外干扰等因素影响下，以最优轨迹的SGCMGs无奇异框架转速指令实现对最优轨迹的跟踪.

Agile Satellite Attitude Maneuver Control Using Hybrid Actuators

Singularity problem of single gimbal control moment gyros (SGCMGs) always exists in practical applications. In this paper singularity index is regarded as the path constraint, and gauss pseudospectral method is used in optimizing trajectory. Then a group of non singularity gimbal angles and gimbal rates can be obtained as open loop control commands. Considering the effect of the initial attitude errors and external disturbance, reaction wheels (RWs) are introduced to modify the tracking errors and a feedback control law is designed based on Lyapunov stability method. Numerical simulation suggests that with the help of RWs, the non singularity SGCMGs commands are also executed strictly and the optimal trajectory can be tracked well under the influence of external disturbance.