Flexible satellite attitude control method based on three-stage path planning

Provided is a flexible satellite attitude control method based on three-stage path planning, relating to the technical field of satellite attitude control. A flexible satellites with pyramidal CMG group as the actuator is selected as the study object, a satellite attitude control method combing the three-stage attitude path planning and rolling optimization tracking is proposed, a nonlinear state-space equation including satellite attitude dynamics, kinematics and flexible attachment vibration is established for the accurate prediction of satellite attitude future information. Based on the three-stage path planning strategy, the flexible satellite attitude maneuvering time is optimally designed, the vibration of the flexible attachments can be avoided when the satellite attitude maneuvering target is completed. By means of the nonlinear model prediction method, the attitude angular velocity curve and attitude angle position curve obtained by planning are taken as the desired tracking targets to design the rol