In this paper,attitude control of rigid-liquid-flexible multi-body coupling spacecraft with un-known interference and uncertain parameters is studied.The sloth of liquid fuel is equivalent to the spherical pendulum model,the flexible attachment is assumed to be Euler-Bernoulli beam,and the dy-namics equation of spacecraft is established by Lagrangian method.Firstly,an integral sliding mode dis-turbance observer was designed for a finite time,enabling the designed model to estimate the lumped disturbances of the control system within a specified time range.Then,based on disturbance observer,a time-varying sliding mode control method is designed,which uses hyperbolic tangent function.Finally,a zero-vibration command smoothing device is designed to suppress liquid sloshing and vibration of flexi-ble accessories.The numerical simulation results indicate that the control scheme designed in this paper is feasible and effective,the residual vibration caused by the multi-mode flexible spacecraft during atti-tude maneuver can be effectively suppressed.
维普
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