中文摘要：

针对机械飞轮内干扰可能导致小卫星姿态控制系统性能下降问题，提出了一种加入机械飞轮干扰补偿的自适应滑模变结构姿态控制方法。本文针对基于机械飞轮的三轴稳定卫星姿态控制系统，首先建立系统详细的数学模型，包括基于机械飞轮的三轴稳定卫星姿态动力学方程和机械飞轮控制系统模型，然后针对此系统设计了一种基于机械飞轮干扰补偿的自适应滑模变结构控制器，其中通过设计一种状态观测器得到机械飞轮摩擦干扰的估计值，用于对机械飞轮摩擦干扰的补偿，并通过Lyapunov定理证明了此控制律能保证系统的渐近稳定性。最后仿真结果显示，此方法缩短了飞轮转速过零时间，降低了最大的姿态扰动量且提高了卫星姿态控制的精度和稳定度。

英文摘要：

An adaptive sliding mode control law with disturbance compensation is proposed for small satellite attitude control system to overcome the deterioration of performance under mechanical flywheel disturbance. According to the small 3-axis stabilization satellite attitude control system with mechanical flywheels as actuators, the dynamic model of the system is firstly given, including attitude dynamic equations of a satellite with mechanical flywheels and the mechanical flywheels control system model. Secondly, an adaptive sliding mode control law which takes wheel disturbances into account is given and state observer is used to estimate wheels friction disturbance for compensation. The stability of the system is proven by using Lyapunov theorem. Finally, the simulation results show that this method shortens flywheel speed zero-crossing time, decreases the largest attitude disturbance value and effectively improves attitude control accuracy and stability.