摘 要：针对挠性航天器姿态机动及主动振动抑制问题，提出一种双回路鲁棒控制方法。首先，采用反步法结合自适应控制技术设计了姿态机动控制器，并基于Lyapunov方法分析了系统的渐近稳定性。其次，为了抑制挠性结构的振动，采用分布式压电智能元件作为敏感器及作动器，设计了应变速率反馈补偿器以增加挠性结构的阻尼，使振动能够很快衰减。仿真结果表明，所提方法在保证完成姿态机动任务的同时，能够有效地抑制挠性附件的振动。

Abstract: A dual-stage robust design method is concerned for the rotational maneuver and vibration stabilization of a flexible spacecraft. Based on the backstepping-based adaptive technique, a new attitude control law for attitude maneuvering is derived to control the attitude motion of spacecraft, in which the asymptotic stability is guaranteed by using Lyapunov analysis. Furthermore, for actively suppressing the induced vibration, strain rate feedback control compensator is designed using piezoelectric materials as additional sensors and actuators. Numerical simulations are performed to show that both maneuvering and vibration suppression can be accomplished effectively.