Inverse Optimal Stabilization of an Underactuated Spacecraft Using Two Wheels

摘要

The problems of optimal stabilization of an underactuated spacecraft using two wheels are investigated in this paper. Considering this kind of spacecraft cannot be stabilized by time-invariant smooth control laws, an inverse optimal control law is presented which circumvents the task of solving the Hamilton–Jacobi equation and minimizes a meaningful cost function based on the direct Lyapunov method and the backstepping technique. Then several simulation results show the asymptotical stability and the optimality of the proposed control law.