Abstract:

There exists intense coupling in the movement of all parts of multi-moving-body spacecraft, which increases the difficulty of dynamic modeling and control. The versatile attitude dynamic model of multi-moving-body spacecraft for any tree structure of open-loop is constructed by using both screw theory and Kane method, which simplifies the analysis of system kinematics, reduces the workload of calculation and makes the process clearer. Aiming at the features of the system that is strong coupled and high nonlinearity, a non-singular terminal sliding mode controller based on inverse system way is designed for all parts of system attitude maneuvering together. Firstly, an α order inverse system is designed and is integrated with the original system to constitute the pseudo linear system to finish the process of accurate feedback linearization. Secondly, a non-singular terminal sliding mode controller is designed for attitude maneuver, so as to guarantee the state error of the system to converge to zero in limited time. Simulation results show the effectiveness of the proposed method.