On Hierarchical Compensation Based Active Disturbance Rejection Control for ACMM Problem of Spacecraft

The attitude control and momentum management (ACMM) problem is quite fundamental for many spacecrafts including space stations, sky laboratories and etc. Instead of single attitude control problem, ACMM problem has to take account of both disturbance rejection and energy optimization. This paper studies the ACMM problem for general spacecraft. A practical active disturbance rejection control architecture is proposed with hierarchical compensation to different kinds of uncertain dynamics or disturbances. In particular, by integrating RLS into ESO, the constant and sinusoidal disturbance terms to be compensated are reconstructed. Also, the LQR law is implemented to achieve the desired performance of control systems after disturbance compensation. Furthermore, quantitative performances of the generalized ESO, the RLS algorithm and the closed-loop tracking system are rigorously analyzed. Finally, the results under 9-DOF semi-physical test environment show the effectiveness of our control method.