Finite-Time Anti-Disturbance Inverse Optimal Attitude Tracking Control of Flexible Spacecraft

摘要

We propose a new robust optimal control strategy for flexible spacecraft attitude tracking maneuvers in the presence of external disturbances. An inverse optimal control law is designed based on a Sontag-type formula and a control Lyapunov function. An adapted extended state observer is used to compensate for the total disturbances. The proposed controller can be expressed as the sum of an inverse optimal control and an adapted extended state observer. It is shown that the developed controller can minimize a cost functional and ensure the finite-time stability of a closed-loop system without solving the associated Hamilton-Jacobi-Bellman equation directly. For an adapted extended state observer, the finite-time convergence of estimation error dynamics is proven using a strict Lyapunov function. An example of multiaxial attitude tracking maneuvers is presented and simulation results are included to show the performance of the developed controller.