Velocity-Free Attitude Stabilization of a Nadir-Pointing Underactuated Rigid Spacecraft

摘要

This paper examines the velocity-free attitude stabilization of an underactuatcd nadir-pointing rigid spacecraft in a circular orbit in the presence of time-vary ing disturbances. A nonlinear observer is used to estimate the angular velocity of the spacecraft to complete an output feedback control law. A sliding-mode control strategy is proposed for this stabilization problem in conjunction with a nonlinear observer. The local ultimate boundedness of the closed-loop system is rigorously proven. Numerical examples demonstrate the performance of the controller in the presence of time-varying disturbances, nonzero orbital eccentricity, inertia matrix uncertainties, and measurement noise in a sampled data implementation. In particular, even though the theoretical ultimate boundedness guarantees are local, the numerical examples demonstrate ultimate boundedness with large initial attitude errors.