考虑未知飞轮摩擦力矩的航天器姿态跟踪鲁棒自适应控制

针对存在未知飞轮摩擦力矩和外干扰力矩情况下的姿态跟踪问题，提出并分析一种鲁棒自适应姿态控制律。姿态控制律采用一种间接处理未知飞轮摩擦力矩和外干扰力矩的方法。该方法并不直接关注未知摩擦力矩和外干扰力矩本身，而是关注其界，并用其进行控制器设计。最后基于Barbalat引理证明所得闭环系统的稳定性，并给出数值仿真结果。仿真结果校验了所提方法的有效性。

Robust Adaptive Control for Spacecraft Attitude Tracking with Unknown Friction Torque of Reaction Wheel

Attitude tracking problem with unknown friction torques of reaction wheels and external disturbances is addressed. A robust adaptive controller with parameter update law is proposed and analyzed. An indirect (nonregressor-based) approach used to deal with the effects of unknown friction torque and external disturbances is explored for the attitude control law. This is done by not focusing on friction torques and external disturbances, but on their bound, thus allowing the core information on friction torque and external disturbances to be extracted and used for controller design. The stability of the resulting closed-loop system is proved by application of Barbalat’s Lemma. Numerical simulations are presented to show the effectiveness of the proposed attitude tracking approach.