This article proposed an extended state observer (ESO)–based output feedback control scheme for rigid spacecraft pose tracking without velocity feedback, which accounts for inertial uncertainties, external disturbances, and control input constraints. In this research, the 6-DOF tracking error dynamics is described by the exponential coordinates on SE(3). A novel continuous finite-time ESO is proposed to estimate the velocity information and the compound disturbance, and the estimations are utilized in the control law design. The ESO ensures a finite-time uniform ultimately bounded stability of the observation states, which is proved utilizing the homogeneity method. A non-singular finite-time terminal sliding mode controller based on super-twisting technology is proposed, which would drive spacecraft tracking the desired states. The other two observer-based controllers are also proposed for comparison. The superiorities of the proposed control scheme are demonstrated by theory analyses and numerical simulations.

本文提出了一种基于扩展状态观测器（ESO）的输出反馈控制方案，该方案用于无速度反馈的刚性航天器姿态跟踪，该方案考虑了惯性不确定性，外部干扰和控制输入约束。在这项研究中，通过SE（3）上的指数坐标描述了6自由度跟踪误差动力学。提出了一种新颖的连续有限时间ESO算法来估计速度信息和复合扰动，并将其用于控制​​律设计中。ESO确保了观测状态的有限时间均匀的最终有界稳定性，这是通过均匀性方法证明的。提出了一种基于超扭曲技术的非奇异时限终端滑模控制器，该控制器将驱动航天器跟踪期望状态。还提出了其他两个基于观察者的控制器进行比较。理论分析和数值模拟表明了所提出的控制方案的优越性。