基于Lyapunov方法的空间飞行器大角度姿态机动控制

本文研究空间飞行器大角度资态机动的控制问题，为了克服大角度机动时使用欧拉角可能产生的奇异问题，文中使用四元参形式的微分方程来描述飞行器的运动，飞行器的动力学方程具有不确定性和非线性。本文应用Lyapunov方法设计在大角度姿态机动控制器，这个控制器具有按指数规律变化的增益，它大大减小了对初始力矩的要求，最后，本文给出一个例子来说明所导出的控制器的优点。

LARGE ANGLE ATTITUDE MANEUVER CONTROL OF SPACECRAFT BASED ON LYAPUNOV APPROACH

This paper deals with the large angle attitude maneuver control of spacecrafts.In order to remove the singularity coming from the large angle attitude maneuver,the kinematics of the spacecraft is described by quaternion.A nonlinear dynamics model with uncertainties is considered.By using Lyapunov theory,a large angle attitude maneuver controller is derived.The gain of the controller is exponentially variable.An example is given for illustrating the effectiveness of the proposed approach.