Three-Axis Stabilization of Spacecraft Using Parameter-Independent NonlinearQuaternion Feedback

摘要

This paper considers the problem of rigid spacecraft. A nonlinear control lawwhich uses the feedback of the unit quaternion and the measured angular velocities is proposed and is shown to provide global asymptotic stability. The control law does not require the knowledge of the system parameters, and is therefore robust to modeling errors. The significance of the control law is that it can be used for large-angle maneuvers with guaranteed stability.