电磁卫星编队位置跟踪是存在输入延时和扰动不确定的控制问题,以卫星相对运动CW方程作为动力学模型,采用前馈加反馈的方式控制编队运动跟踪预定轨迹,前馈控制量由预定轨迹结合CW方程给出,反馈控制采用状态线性变换后的滑模变结构控制律。证明了滑模切换面可达以及滑模面上的运动与不确定扰动无关。数值仿真表明考虑时滞的控制相比未考虑时滞的控制,位置跟踪精度有所提高。 Electromagnetic satellite formation location tracking is a control problem with input delay and disturbance uncertainty. The satellite relative motion CW equation is taken as the dynamic model, and the track of formation tracking is controlled by feedforward and feedback control. The feedforward control quantity is determined by a predetermined trajectory Combining the CW equations, the sliding mode variable structure control law is adopted after the state linear transformation is used in the feedback control. It is proved that the sliding mode switching surface is reachable and the sliding surface movement has nothing to do with the uncertain disturbance. Numerical simulation shows that the accuracy of position tracking is improved compared with the control without considering the time delay considering the control with time delay.