中文摘要：

利用退步控制方法研究了绳系卫星系统TSS（TetheredSatelliteSystem）的平面内回收控制问题，提出了一种新的张力控制律．该控制律设计由两步组成：首先利用退步控制将摆角稳定到目标值，然后通过设计摆角的目标值实现系绳的回收和回收速度的控制．控制率设计了分段连续的目标角度方案和延时环节，可以使TSS回收过程各状态量变化平滑．数值仿真结果表明，该控制律在圆轨道、近圆轨道和大偏心率的椭圆轨道都有很好的控制效果．

英文摘要：

A new tension control law based on backstepping control method was proposed for planar retrieval control of tethered satellite system（TSS）. The control law was designed in two steps. Firstly, the planar swing angle was stabilized into target value via using backstepping control method. Then, the retrieval velocity was controlled by designing appropriate profile for the target value. A continuous piecewlse profile was adopted for the target value and a delay term was added to ensure a better retrieval behavior. Numerical simulation results validate that the control law designed here works well for TSS mission in circular, near circular or-bits and also elliptical orbit with large eccentricity.