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针对带有转动惯量不确定性和干扰的航天器姿态控制问题,提出了一种基于鲁棒自适应方法的解耦控制算法。首先,将航天器模型变换成3个子回路分别进行控制器综合,并利用自适应方法对模型中的不确定参数进行补偿。然后,将外干扰力矩和自适应补偿误差视为复合扰动,通过鲁棒控制算法对其进行抑制,保证了姿态跟踪误差在期望的范围内。最后,数字仿真结果表明了所设计的控制器在处理航天器姿态控制问题的正确性和有效性。
Aiming at the problem of spacecraft attitude control with uncertainty and disturbance of moment of inertia, a decoupling control algorithm based on robust adaptive method is proposed. First, the spacecraft model is transformed into three sub-loops and the controller synthesis is carried out respectively. And the uncertain parameters in the model are compensated by the adaptive method. Then, the external disturbance torque and the adaptive compensation error are regarded as compound disturbances, which are suppressed by the robust control algorithm to ensure that the attitude tracking error is within the expected range. Finally, the numerical simulation results show that the proposed controller is correct and effective in handling the attitude control of spacecraft.