Here,an adaptive robust active vibration control approach based on desired compensation for a flexible spacecraft with bonded smart materials during its large-angle attitude rapid maneuvers was proposed.The proposed approach was composed of path planning technique,attitude controller designed by the desired compensation adaptive robust control (DCARC) and active vibration controller designed based on the positive position feedback (PPF) control.The angular position path of the spacecraft's central rigid body which was not easy to excite vibration of flexible appendages was obtained with the path planning technique,a DCARC attitude controller was used to track the planned path.A desired compensation-based adaptation law was utilized to reduce the effect of measurement noise so that the regressor was calculated only with the desired path information.Meanwhile,a multi-modal PPF active vibration controller was applied to increase appendages damping and suppress high-frequency vibrations of flexible appendages.Simulation results demonstrated the effectiveness of the proposed approach.It was shown that the proposed approach can not only improve transient and steady state performances of the spacecraft during its large-angle attitude rapid maneuvers,but also effectively suppress vibrations of its flexible appendages.%针对一类粘贴有智能材料的挠性航天器进行大角度姿态快速机动中的姿态控制与振动抑制问题,提出了一种基于期望补偿的自适应鲁棒主动振动控制方法.该方法由路径规划、基于期望补偿的自适应鲁棒(DCARC)姿态控制器以及基于正位置反馈(PPF)的主动振动控制器组成.通过规划得到不易激起挠性附件振动的挠性航天器中心刚体角位置路径,利用DCARC姿态控制对规划的路径进行跟踪.采用基于期望补偿的自适应律使得回归量仅由期望路径信息计算,可减少测量噪声的影响.同时,针对机动过程中挠性附件的高频振动,采用多模态PPF主动振动控制器以增加附件阻尼.该方法不仅能提高挠性航天器大角度姿态快速机动中动态和稳态性能,而且可有效抑制挠性附件振动.数值仿真结果验证了该方法的有效性.
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