欠驱动航天器姿态控制系统的退步控制设计方法

应用退步控制设计方法研究欠驱动航天器的姿态控制问题。将系统分为运动学和动力学两个子系统分别进行控制律的设计。首先导出了一种动力学子系统的镇定控制律，以减低失控轴的角速度分量对运动学子系统的影响。在此基础上，假设这一角速度分量为小量，利用运动学中的角速度交叉耦合项对失控轴的姿态进行控制。通过推导出角速度中间控制律，实现了运动学子系统的镇定，并进一步设计了姿态退步控制律。最后进行了数值仿真，验证了所推导的控制律的有效性。

Backstepping Control for Attitude Control System of an Underactuated Spacecraft

In this paper, the attitude control problem for an underactuated spacecraft is resolved via backstepping method. First of all, the system is separated into two subsystems, i.e., dynamic and kinematic subsystems. A stabilized control law is designed for the dynamic subsystem such that the influence of angular velocity resulting from the Uncontrollable axis is reduced, The cross coupling terms of angular velocity in kinematic equations are utilized to regulate the uncontrollable attitude component. An angular velocity intermediate control law is introduced to stabilize the kinematic subsystems. A backstepping control law is designed via the presented intermediate control law. Simulating results validate the availability of the proposed control algorithm.