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摘要
A robust adaptive constrained control scheme is proposed for flexible spacecraft attitude maneuver and vibration suppression, in which multiple constraints are simultaneously considered, such as uncertain inertia parameters, external disturbance, unmeasured elastic vibration, actuator saturation, and even actuator misalignment. More specifically, a novel path planning scheme based on quintic polynomial transition is firstly developed to realize smooth acceleration variate and therefore decrease the vibration of flexible appendages. Secondly, an elastic modal estimator is employed to estimate the unmeasured variables, such as the modal position and velocity. Thirdly, an adaptive updating technique is used to spare the extra knowledge of system parameters and the bound of the external disturbance. In addition, an auxiliary design system is constructed to address the actuator saturation problem, and a compensation term is synthesized and integrated into the controller to handle the actuator misalignment. Finally, overall system stabilization is proved within the framework of Lyapunov theory, and numerical simulation results are presented to illustrate the effectiveness of the proposed scheme.
