中文摘要：

针对航天器携带的两副旋转机构同时姿态机动的精确控制问题提出一种鲁棒自适应控制方法。从关联系统的角度建立系统动力学模型,有效精确描述系统内各刚体动力学耦合项与非耦合项。采用“航天器本体姿态稳定、同时各旋转机构姿态机动”的复合控制策略：考虑到航天器本体转动惯量参数无法精确获得,应用非确定等价自适应控制方法设计姿态稳定控制器,在确保姿态全局渐近稳定的同时有效令不确定参数估计值精确逼近真实值或进入特定集合;考虑到各旋转机构姿态机动时受到航天器本体动力学耦合的影响,设计了鲁棒H∞姿态机动控制器以抑制动力学耦合的作用。仿真结果验证了所提出方法的有效性。

英文摘要：

A robust adaptive attitude control method is investigated for two rotary mechanisms attitude tracking accurately of spacecraft. A system dynamic model is established referring to the form of the intercon- nected system, in which the coupled part and uncoupled part of each rigid-body are described accurately. A con- trol strategy that the main body of spacecraft controlled for attitude stabilization and each mechanism controlled for attitude tracking synchronously is adopted. Considering it is hard to obtain the inertia matrix of the main body of spacecraft accurately, a controller based on the non-certainty equivalent adaptive method is designed to make the attitude of the main body of spacecraft global asymptotic stabilized and the estimated parameters either reach to the true value or come to a particular set. Considering there exists acute dynamic coupling between the main body of spacecraft and mechanisms, a robust H∞ attitude maneuver controller is designed to alleviate dis- turbance due to dynamic coupling. Simulation results show the effectiveness of the proposed strategy.