中文摘要：

针对应用任意剪刀对构型飞轮群的欠驱动刚体航天器姿态控制问题，将飞轮群与航天器看作整体系统进行建模，从整体系统可控性角度分析采用传统模型进行控制系统设计存在的局限性。随后通过对飞轮群角动量集合描述，得出航天器姿态可机动集合。由于飞轮群构型的任意性及航天器的欠驱动特性，导致具有初始角动量的整体系统难以针对系统状态方程采用Lyapunov函数方法进行状态反馈控制器设计，同时为了保证存在外扰动力矩的航天器姿态机动精度，采用非线性预测控制方法实现系统的反馈控制。所提控制算法实现了任意飞轮群剪刀对构型、飞轮群角动量非饱和条件下，任意系统初始角动量欠驱动航天器在姿态可机动集合中的机动控制。仿真结果表明，系统具有良好的控制性能及精度。

英文摘要：

For angular maneuvers of the underactuated spacecraft with arbitrary scissors configurations of flywheels, a mathematic model is built by taking the flywheels and the spacecraft as an integrated system. The limitation of the control system design based on the traditional model is analyzed. The attitude maneuver set is given through the description of the angular momentum set of the flywheels. Since the controller of the integrated system with non-zero initial momentum is difficult to be designed by using the Lyapunov method, and in order to ensure the precise control of the spacecraft attitude maneuver, nonlinear model predictive control is used to realize the feedback control of the integrated system. By doing so, the spacecraft attitude maneuver is realized in the attitude maneuver set under the arbitrary scissors configurations of flywheels and arbitrary initial momentum of the integrated system with the flywheels unsaturated. The simulation results show that the system has good control performance and precision.