Flexible spacecraft attitude and orbit tracking control method based on expansion disturbance observer

[0057] Specific implementation mode 1: refer to figure 1 This embodiment will be described in detail. The flexible spacecraft attitude and orbit tracking control method based on the expansion disturbance observer described in this embodiment is aimed at complex space environment disturbance, inertia uncertainty caused by fuel loss, mass uncertainty, and solar array in Attitude-orbit tracking control of flexible spacecraft under nonlinear vibration disturbance during spacecraft maneuvering The lumped disturbance in the system model is estimated; finally, the estimated value of the lumped disturbance is introduced into the system feedback link, and combined with the backstepping method, an attitude-track integrated tracking controller based on the extended disturbance observer is designed. The invention realizes the integrated tracking control of the orbital position and attitude of the target spacecraft by the tracking spacecraft, has strong robustness characteristics, and is suit

[0058] In the first step, according to the dynamic characteristics of the two spacecraft, geometric mechanics is used to establish the attitude and orbit dynamics models of the target spacecraft and the tracking spacecraft based on the Lie group SE(3) framework. In view of the stable operation state of the target spacecraft, It is modeled by a rigid body system (the target spacecraft is assumed to be a rigid body for modeling), and the process of tracking the spacecraft's maneuvering, considering that it will excite the vibration of the flexible array, is modeled by a rigid-flexible coupled multi-body system. Modeling (modeling of tracking spacecraft based on rigid-flexible coupled multi-body). The specific implementation is as follows:

[0059] The kinematic equations of the attitude-orbit integration of the target spacecraft are expressed in the form of exponential coordinates on SE(3). The dynamic equations are written based on the single rigid body Twist-Wrench formula:

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