Stabilization and Tracking of Underactuated Axisymmetric Spacerft with Bounded Control

摘要

We provide stabilizing and tracking feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. As a special case we also provide a feedback control to track a specified direction in inertial space. All proposed control laws achieve asymtotic stability with exponential convergence. One of the novelities of the proposed control design is the use of a new, non-standard description of the attitude motion, which allows thedecomposition of the general motion into two rotations. This attitude description is especially useful for analyzing axisymmetric bodies, where the motion of the symmetry axis maybe of prime importance.