In order to solve the tracking control problem of nonlinear Hamilton systems with uncertain parameters and external disturbances,a novel adaptive robust anti-windup control law based on dynamic inversion and extended state observer was proposed.A dynamic inversion method was introduced to control the nominal system,then a novel adaptive law based on projection algorithm was used to compensate uncertain parameters, and an extended state observer was used to estimate external disturbances.And a dynamic compensation block was added to improve system performance in the presence of saturation.The proposed control method was applied to a typical model in the domain of spacecraft attitude control problem,and simulation results proved the fine control performance and strong robustness of the proposed method.
