基 于 全 驱 系 统 理 论 的 航 天 器 姿 轨 预 设 性 能 控 制

An attitude-orbit integrated controller with prescribed performance based on fully actuated system param - eterization approach and adaptive neural network is proposed for close flying-around of the space target in the presence of inertia parameter uncertainty and orbit perturbation. The six degree of freedom motion of rigid spacecraft is derived under the framework of Lie group SE（3），and an accurate and concise attitude-orbit integrated error dynamic model is established. An exponential-form based performance function is introduced to perform prior and quantitative constraints on the dynamic and stable processes of attitude error and position error. Considering the nonlinear characteristics of the dynamic model，a feedback control term based on the fully actuated system approach is designed to obtain a constant linear closed-loop system with an arbitrarily assignable eigenstructure，thus reducing the difficulty of the subsequent controller design process. An adaptive neural network based integral sliding mode controller is further designed to compensate for the loss of control accuracy caused by inertia parameter uncertainty and orbit perturbation. In addition，to further enhance the engineering utility，an improved particle swarm optimization algorithm is developed to optimize the controller parameters. Numerical simulation results indicate that the high-precision attitude-orbit integrated flying-around is achieved without significant control chatter while satisfying the predesigned performance constraints，thus verifying the effectiveness and feasibility of the proposed controller.