The dynamic model of the satellite with a flexible appendage has been studied in this thesis . also , the techniques of the satellite earth acquisition and three - axis attitude stabilization of both the rigid satellite and the liquid - filled satellite have been researched 本文针对单翼大挠性太阳帆板卫星，建立了挠性卫星动力学模型，在此基础上，研究了地球捕获、刚体卫星三轴姿态稳定、充液卫星三轴姿态稳定问题。
Formulas are given for changing from any kind of parameters to the other three kinds of parameters . the model for attitude stabilization is established using quaternion or rodrigues parameters , and the model for attitude tracking is established using error quaternion or error rodrigues parameters . ( 2 ) attitude stabilization and attitude tracking are then studied 本文的主要工作和贡献有以下几点： ( 1 )系统地研究了刚体姿态的参数化描述方法，给出了描述刚体姿态的姿态矩阵、欧拉角、四元数和rodrigues参数的相互转换关系，建立了基于四元数和rodrigues参数的刚体姿态调节控制模型，和基于误差四元数和误差rodrigues参数的刚体姿态跟踪控制模型。
The system based on pid control theory has characteristics of fast response speed and higher peak overshoot , and it also has a good performance of tracking , but it is lack of ability of disturbance rejection . because smvs control method is insensitive to the variations of the model parameters , nonlinear and exterior noises , the attitude stabilization system designed based on smvs has fast response speed , higher ability of disturbance rejection and has no peak overshoot , namely , the system is robust 仿真结果表明，基于pid控制规律设计的系统具有响应速度快但超调大的特点，系统的跟踪性能较好，但抗干扰能力较差；滑模变结构控制方法因为其对模型参数的变化、非线性和外扰噪声的不敏感性，设计的声纳基阵姿态稳定系统无超调，响应速度快而且抗干扰能力强，具有很好的鲁棒性。
