引言本文针对两颗纳米卫星受到控制和状态约束、且存在有界扰动和测量误差的情况下,分析并提出了它们的稳定和机动控制的可行方法。本主题是当前的一个热门研究领域(参见文献1-6),这些文章利用了多种配置和算法。目前实现约束控制的方法不多。本文采用改进后的时间最优鲁棒控制方法,可降低能量消耗。文献7介绍的受约束的时间最优控制问题的解要求计算鲁棒可控性集合X_i(X_i是在存在扰动的情况下,可以在i步 INTRODUCTION In this paper, two nano-satellites are controlled and state-bound, and under the condition of bounded disturbances and measurement errors, the feasible methods of their stability and maneuver control are analyzed and proposed. This topic is currently a hot area of ​​research (see References 1-6), which utilizes a variety of configurations and algorithms. There are not many ways to achieve constraint control. In this paper, the improved time robust control method can be used to reduce the energy consumption. The solution to the constrained optimal control problem in time, introduced in literature 7, requires that the robust controllability set X_i be computed (X_i is in the presence of perturbations,