柔性航天器预设性能及时间自抗扰姿轨跟踪控制

Aiming at the attitude orbit maneuver and tracking control of flexible spacecraft, the attitude-orbit-structure integrated dynamics model of flexible spacecraft is established on the framework of SE (3) firstly based on the modular multi-body dynamics modeling method. The position and attitude of the spacecraft are described by the exponential coordinates on Lie group SE(3), and then the relative dynamics model is further derived. On this basis, an integral sliding mode tracking control method based on predefined performance and time is proposed. Among them, the elastic vibration of the flexible attachment and the disturbance of the space environment are observed by introducing a predefined time disturbance observer, and the feedforward compensation term of the disturbance observation is added to the control law. The closed-loop stability and tracking error convergence of the system are guaranteed by Lyapunov theory. The algorithm adjusts the output of the actuator through real-time monitoring of the state error, so that the controller can still achieve high-precision attitude and trajectory tracking in the presence of flexible vibration and space environment interference in the system. It is applied to the attitude and trajectory tracking system, and the simulation results show the effectiveness and practical feasibility of the control scheme.