林泽楷, 万敏, 李涛,等.外部干扰与状态约束下卫星姿态系统预设性能跟踪控制[J].河南理工大学学报（自然科学版）,2026,45(5):60-70.

LIN Z K, WAN M, LI T,et al.Prescribed performance tracking control for a satellite attitude control system under external disturbances and state constraints[J].Journal of Henan Polytechnic University(Natural Science) ,2026,45(5):60-70.

外部干扰与状态约束下卫星姿态系统预设性能跟踪控制

林泽楷, 万敏, 李涛

南京航空航天大学 自动化学院，江苏 南京 211106

摘要:目的为了实现对期望轨迹的精确跟踪，对考虑外部扰动、性能受限和状态约束的卫星姿态跟踪控制设计方案进行研究。  方法基于改进的预设性能控制、干扰观测器与障碍李雅普诺夫函数等技术提出一种卫星姿态系统抗干扰控制方案。首先，设计了具有“慢-快-慢”收敛特性的有限时间性能函数，该函数能够动态调节不同响应阶段的收敛速率，提高闭环系统瞬态与稳态性能；其次，为了更快速地估计和补偿干扰，提出一种基于时间尺度函数的预设时间干扰观测器（predefined-time disturbance observer， PTDO），确保估计误差能够在指定时间内收敛到较小的残差集内；再次，利用障碍李雅普诺夫函数将受约束的卫星姿态系统等价转化为无约束系统，并借助干扰估计与反步法为其设计预设性能抗扰控制策略；再者，利用Lyapunov稳定性理论，给出确保闭环系统误差信号有界稳定的充分性条件，建立了控制器和观测器的联合设计方案；最后，利用数值仿真验证了本文方法的有效性。  结果在外部干扰情况下，PTDO能在指定时间内实现快速精确估计和补偿，控制器在确保卫星姿态系统满足非对称时变状态约束的同时，姿态跟踪误差也能够在预设时间内收敛至足够小的性能包络内。  结论数值仿真实验表明，所提方法能够确保卫星姿态系统在复杂约束影响下依然能够实现高精度姿态控制。

关键词:卫星姿态系统;跟踪控制;预设性能控制;状态约束;预设时间干扰观测器

doi:10.16186/j.cnki.1673-9787.2025120018

基金项目:空间智能控制技术全国重点实验室项目（HTKJ2024KL502021）；航空科学基金资助项目（2023Z032052001）

收稿日期:2025/12/08

修回日期:2026/04/28

出版日期:2026-07-24

Prescribed performance tracking control for a satellite attitude control system under external disturbances and state constraints

Lin Zekai, Wan Min, Li Tao

College of Automation Engineering， Nanjing University of Aeronautics and Astronautics， Nanjing 211106， Jiangsu， China

Abstract: Objectives To achieve accurate tracking of reference trajectories， this study investigates the attitude tracking control problem for a satellite attitude control system subject to external disturbances， performance constraints， and state constraints. Methods A prescribed performance anti-disturbance control scheme is proposed based on improved prescribed performance control （PPC）， disturbance observer-based control （DOBC）, and barrier Lyapunov function （BLF） techniques. First， a finite-time performance function with a slow–fast–slow convergence characteristic is designed to dynamically adjust convergence rates in different response stages， thereby improving transient and steady-state performance. Second， a prescribed-time disturbance observer （PTDO） based on a time-scale function is developed to ensure that the estimation error converges to a sufficiently small residual set within a predefined time. Third， the BLF method is employed to transform the constrained satellite attitude system into an equivalent unconstrained system， and a prescribed performance anti-disturbance controller is designed using the backstepping method combined with disturbance estimation. Furthermore， Lyapunov stability theory is applied to derive sufficient conditions guaranteeing uniform boundedness of the closed-loop system， and a coordinated design framework for the controller and observer is established. Finally， numerical simulations are conducted to verify the effectiveness of the proposed method.  Results Under external disturbances， the PTDO achieves fast and accurate disturbance estimation and compensation within a predefined time. Meanwhile， the proposed controller ensures that the satellite attitude control system satisfies asymmetric time-varying state constraints， and the attitude tracking error converges within a predefined performance bound. Conclusions Simulation results demonstrate that the proposed method enables high-precision attitude tracking control of satellite systems under external disturbances and complex state constraints.

Key words:satellite attitude control system;tracking control;prescribed performance control;state constraints;prescribed time disturbance observer