Spacecraft Attitude Tracking Adaptive Internal Model Control Method

With the development of space exploration technologies, rigid spacecraft attitude tracking control has been one of the key issues in the field of aerospace technology research. Under the new opportunity and academic atmosphere, from the perspective of theoretical research and engineering practice, the practical problems about spacecraft attitude tracking control system are discussed in this paper. The main research contents of this thesis include the following three aspects:First, the spacecraft's attitude kinematics and dynamics model is established. The description is based on the modified Rodrigues parameter(MRP) and its global map sets,because they can achieve global description of the non-singular gesture. In this paper, all of the control algorithm design is based on the spacecraft attitude dynamics equations which are given in chapter 2 and the attitude kinematics equation described by the MRP.Further, an adaptive back-stepping attitude tracking control schemes are developed for rigid spacecraft, in which the uncertainty of inertia moment and the disturbance torque are designed. The control method make use of the semi-tensor product of matrices to deal with the inertia uncertain parameters, and design the adaptive control item, the uncertain parameters are identified. In addition, the internal model control(IMC) theory is used to achieve the spacecraft astatic disturbances rejection. Based on the Lyapunov method, it is proved that the control strategy can achieve the global asymptotic tracking control of the desired attitude.The end, a design scheme for rigid spacecraft attitude tracking control using properties of the hyperbolic tangent function and MRP parameters, the internal model control(IMC), the semi-tensor product of matrices are developed and applied to the spacecraft with control input constraint taken into account concurrently. Finally optimization algorithm based on genetic algorithm control parameters for the controller design process of numerical parameters is given.