应用旋转矩阵的卫星姿态输出反馈机动控制

针对卫星姿态机动控制问题，提出一种只利用向量测量信息的无角速度反馈的输出反馈控制方法。卫星姿态的指向直接通过旋转矩阵进行描述，而不是先进行参数化过程，避免了由欧拉角、修正的罗德里格参数（MRPs）与四元数等姿态描述方式产生的奇异问题与退绕问题。首先，通过向量测量信息与一组期望姿态向量，引入一个新的姿态指向误差向量，并对其性质进行分析。其次，进一步结合主导滤波器的思想，设计了无需角速度信息的卫星姿态机动控制器，并应用Lyapunov理论，对闭环系统的全局稳定性进行了严格的证明。最后，对所提出的控制算法进行了数值仿真，其结果验证了所设计的输出反馈控制算法的可行性和有效性。

Output feedback attitude maneuver control of satellite using rotation matrix

An output-feedback attitude maneuver control strategy in the absence of angular velocity feedback is proposed for rigid satellite system by solely and directly using unit-length vector measurements. The orientation of a rigid body is described by a rotation matrix directly, rather than by a parameterization, avoiding the undesirable singular problem and unwinding phenomenon caused by Euler angle, quaternion or the modified Rodrigues parameters (MRPs) representations of the attitude. A new orientation error of the rigid body is computed by the vector measurements and a set of desired vector measurements. By using the lead filter, the velocity-free attitude maneuver control law that ensures set-point regulation is developed. Within the Lyapunov framework, the global stability of the close-loop system is guaranteed. Numerical simulation results demonstrate the successful set-point regulation of the proposed output-feedback control strategy.