关键词: 动态误差, 轨迹跟踪控制, 扰动, 柔性关节, 星载天线

Abstract: The nonlinear characteristic of dynamic error impacts on pointing accuracy and satellite attitude. The dynamic model of satellite antenna is established. The model of dynamic error of flexible joints is deduced. Disturbance effects of satellite antenna are analyzed considering dynamic error of joint-flexible. The nonlinear control algorithm for compensation of pointing accuracy of satellite antenna is proposed for tracking trajectory. The asymptotic stability of the proposed algorithm is proved by using Lyapunov stability theory. The result shows that the presence of dynamic error of flexible-joint can produce an unpredictable vibration response and velocity fluctuations under the condition of the same damping and stiffness, even if the amplitude is small. With reasonable controller parameters, the controller algorithm can completely compensate for the dynamic error and suppress its disturbance. The conclusion has important theoretical value and engineering significance

Key words: Disturbance, Dynamic error, Flexible-joint, Satellite antenna, Trajectory tracking control