针对存在执行器安装偏差和外干扰力矩的航天器姿态跟踪问题,提出了一种基于滑模控制的鲁棒控制律.控制律考虑了因执行器安装偏差导致的控制力矩偏差,且抑制了其对姿态控制精度的影响.在控制律设计时,除了保证系统稳定性外,还进一步给出了明确的与控制参数相关的姿态跟踪误差上界.数学仿真结果表明了此控制方案的有效性.%A sliding mode control-based robust control law is proposed to deal with the problem of spacecraft attitude tracking considering actuator misalignments and external disturbances.The control torque errors due to actuator misalignments are considered in the proposed control law,and its effects on attitude control performance are suppressed.Besides showing stability,explicit bound on the attitude tracking errors is given in terms of design parameters.Simulation results show the effectiveness of the proposed control scheme.
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