考虑未知输入饱和的指向约束姿态机动控制

针对航天器姿态机动过程中需要满足指向约束和输入饱和约束的问题，提出了一种基于视线轴导航函数和退步控制的控制算法。该算法通过在单位球面上建立视线轴对应的导航函数，并将该导航函数融入到退步控制律的设计过程中；同时通过设计辅助系统，结合李雅普诺夫稳定理论，设计出既能满足视线轴指向约束，又能满足输入饱和约束，同时对常值干扰进行估计并抑制的控制算法。仿真结果显示，提出的算法能同时处理指向约束和未知输入饱和约束，且对常值干扰具有抑制能力。

Attitude Maneuver Control of Spacecraft with Pointing Constraints Considering Unknown Input Saturation

A novel control algorithm based on the navigation function of line of sight and backstepping method is presented in this paper for spacecraft maneuver under pointing constraints and input saturation constraint. The navigation function of line of sight is constructed on the unit sphere, and thereafter is used to design the backstepping controller. With the assistance of auxiliary system, a controller is obtained. The controller can not only satify pointing constraints, but also meet input saturation constraint, meanwhile the constant disturbance can be estimated and be suppressed. The simulation results validate the effectiveness of the proposed algorithm.