This paper addresses the control issue of the integrated attitude and orbit tracking of spacecraft in the presence of inertia parameter uncertainty and spatial disturbance. By considering thruster as the control actuator, the 6-degree-of-freedom integrated model consisting of attitude and orbit dynamics is formulated. Based on the backstepping design, an adaptive control strategy is developed by exploiting a projected disturbance observer that compensates for the dynamics uncertainty and an adaptive algorithm that counteracts the observer error. Moreover, an optimal control allocation solution is employed to get the control command of each thruster. Stability analysis proves that the overall closed-loop system is ultimately bounded. To validate the proposed control, the hardware-in-the-loop experiment examples are conducted on the ground testbed facility. Simulation and experiment results show that the spacecraft/simulator can achieve the trajectory tracking and attitude synchronization simultaneously.

本文研究了存在惯性参数不确定性和空间干扰的航天器综合姿态和轨道跟踪的控制问题。通过将推进器作为控制执行器，建立了由姿态和轨道动力学组成的六自由度集成模型。基于反推设计，通过利用补偿动态不确定性的投影干扰观测器和抵消观测器误差的自适应算法，开发了一种自适应控制策略。而且，采用最优控制分配方案来获得每个推进器的控制命令。稳定性分析证明，整个闭环系统最终是有界的。为了验证建议的控件，硬件在环实验示例在地面测试平台上进行。仿真和实验结果表明，航天器/模拟器可以同时实现轨迹跟踪和姿态同步。