实现刚体姿态系统干扰近似解耦的控制器

采用四元数法描述了刚体姿态系统。根据非线性系统干扰近似解耦问题有解的充分条件，考虑到刚体姿态系统的串联结构，利用反推法设计了能够实现刚体姿态系统干扰近似解耦的控制器。仿真结果表明，所设计的控制器对刚体姿态系统的参数摄动具有一定的鲁棒性，对系统可能受到的干扰具有较好的抑制能力。

A Controller Realizing Disturbance Almost Decoupling for a Rigid Body System

Quaternions are used to describe the attitude of the rigid body system in this paper. The sufficient conditions for the solvability of the disturbance almost decoupling problem of nonlinear system are discussed. The controller of the disturbance almost decoupling problem of the general rigid body is designed by back stepping technique because of the triangular structure in the model of the rigid body. Numerical simulation shows that the proposed controller is robust to the parameter's perturbation of the rigid body system and has good ability to attenuate disturbances that the rigid body system may face.