空间控制技术与应用（中英文）2026，Vol.52Issue(1)：79-93,15.DOI:10.3969/j.issn.1674-1579.2026.01.008
带液体晃动的快时变动力过程姿态自抗扰控制
ADRC Based Attitude Control for Time-varying Dynamic Processes with Liquid Sloshing
摘要
Abstract
An active disturbance rejection control(ADRC)scheme is proposed in this paper for the attitude control problem of dynamic processes with liquid sloshing,which is characterized by poor dynamic stability,rapid parameter variations,and significant uncertainties.Simulation results verify that the scheme can effectively suppress the influence of disturbances and liquid sloshing on attitude motion,and exhibits strong adaptability to different tank fill ratios as well as uncertainties in disturbances and parameters.Further analysis of the eigenvalues of the closed-loop system reveals the characteristic of ADRC:by effectively compensating online for various disturbances in attitude motion,the rigid body part is approximately restored to a second-order linear time-invariant pure integral object.As a result,the closed-loop characteristic roots related to the attitude part are stable and have similar magnitudes at different characteristic points during the propellant consumption process.Therefore,a satisfactory attitude control effect can be achieved,when liquid sloshing is present.Finally,taking this problem as an example,the issue of how to evaluate the stability margins of nonlinear or linear time-varying systems is discussed.关键词
飞行姿态控制/液体晃动/时变系统/自抗扰控制/稳定裕度Key words
flight attitude control/liquid sloshing/time-varying system/active disturbance rejection control(ADRC)/stability margin分类
航空航天引用本文复制引用
黄一,户彦飞,孟斌..带液体晃动的快时变动力过程姿态自抗扰控制[J].空间控制技术与应用（中英文）,2026,52(1):79-93,15.基金项目
国家自然科学基金资助项目(U24B6014) National Natural Science Foundation of China(U24B6014) （U24B6014）
