中文摘要：

针对敏捷小卫星在运行过程中遇到的各种不确定性和干扰等问题，研究了以单框架控制力矩陀螺（SGCMGs）为执行机构的小卫星姿态机动和跟踪控制方法。在航天器动力学建模时考虑了执行机构的模型；设计了一种具有自适应能力的非线性控制器，并利用Lyapunov理论证明了控制系统的渐近稳定性；为校验该方法的有效性，搭建了基于SGCMGs的敏捷卫星姿态控制系统的半物理仿真实验平台，并考虑模型不确定性、外界干扰及执行机构控制力矩受限的情况进行了半物理仿真实验，相关结果校验了本文方法的有效性。

英文摘要：

To deal with the influence of model parameter uncertainties and environmental disturbance torques, an attitude control method for agile small satellites with single gimbal control gyroscopes （SGCMGs） as actuator is studied in this paper. Firstly, the dynamics model of the including the actuator is presented. Then, a nonlinear adaptive control system is designed to cope with the influence of some uncertainties, the system stability is proved by the Lyapunov theory. Finally, a semi-physical simulation platform based on SGCMGs is constructed for validating the presented method, with considering model uncertainties, disturbances and limits of control torques. The simulation and experiment are implemented to validate the effectiveness of the proposed method.