Robust Coordinated Control and Vibration Isolation Analysis for Multi-stage Satellite with Friction Disturbance

A limit time adaptive prescribed performance control (LTAPPC) is proposed for ultra-agile ultra-stable and ultra-pointing multi-stage satellite in this paper. And control performance analysis is also conducted with the effects of nonlinear friction disturbance in the microgravity environment. Firstly, the Newton–Euler method is used to establish the dynamic model of ultra-agile ultra-stable and ultra-pointing multi-stage satellite system. The multi-stage satellite contains a satellite platform, a payload and an ultra-agile ultra-stable and ultra-pointing platform (ASP), which isolates the vibration from platform. And then, a modified LuGre friction model is proposed to establish the nonlinear friction disturbance between multi-stage satellite. The friction disturbance is produced by multilayer insulation material. The characteristics of nonlinear friction and its effects on the multistage system are also analyzed both in theory and experiment. Furthermore, the LTAPPC controller is proposed to compensate for the disturbance caused by friction and multi-stage coupling. The parameters of the proposed controller are also analyzed and optimized to improve the control performance of the system. It is proved based on the Lyapunov theorem that the designed control algorithm is stable. The simulation results show that the proposed method can improve the attitude pointing accuracy and compensate for the nonlinear friction and multi-stage coupling disturbance.