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中文摘要：
针对存在外界扰动和模型参数不确定性的雷达卫星姿态跟踪控制问题，提出了一类基于修正的罗德里格斯参数描述的雷达卫星鲁棒逆最优自适应控制器设计新方法．通过Backstepping方法和构造相应李雅普诺夫函数，设计了鲁棒逆最优控制器，避免了直接求解哈密顿一雅克比一贝尔曼偏微分方程，使控制器相对于选取的具有鲁棒性的代价函数最优，并以较小的L：增益，实现对外界扰动的输入一状态稳定和鲁棒性；针对系统参数不确定性设计自适应参数更新律，对参数进行自适应学习，有效降低参数不确定对系统的不利影响．仿真结果表明：该方法能有效抑制模型不确定参数和外界未知扰动的影响，在保证姿态跟踪精度的同时，能增强系统鲁棒性．
英文摘要：
A novel method of MRP based robust inverse optimal adaptive tracking controllers was proposed for spacecraft tracking control problem with external disturbances and an uncertain parameters. A robust inverse optimal controller was designed with respect to the designed robust cost function through constructing Lyapunov function and using backstepping method, which avoided solving the Hamilton-Jacobi-Isaacs partial differential equation directly. Input-to-state stability and robustness with respect to external disturbances was achieved through a smaller disturbance attenuation level. An adaptive update law was constructed with respect to adaptive parameters to address the adverse effect of parameters uncertainty. Numerical simulations have demonstrated that the proposed method could not only guarantee the track accuri~cy and improve the robustness but also suppress the adverse effect of both uncertain parameters and unknown disturbance.
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