Robust Integrated Translation and Rotation Finite-Time Maneuver of a Rigid Spacecraft Based on Dual Quaternion

摘要

This paper deals with simultaneous position and attitude robust maneuver problem of a rigid spacecraft. Based on a novel mathematical tool, i.e., dual quaternion, an integrated translational and rotational tracking error model of a rigid spacecraft is derived, whose form holds effective and compact. A robust finite-time control strategy is then proposed using backstepping technique to enable the spacecraft to track reference position and rotation motions in finite time. Within the Lyapunov framework, the finite-time stability of the closed-loop system is guaranteed in the presence of system uncertainties and bounded external disturbances; meanwhile, the bound of settling time can be derived as well. A scenario numerical simulation demonstrates the effect of the designed control law.