Passivity-Based Control Design for Spacecraft Attitude Tracking

摘要

Since both robot manipulators and spacecrafts are nonlinear mechanical systems,the passivity-based control design approach developed in robot control research is applied to construct attitude tracking controller of rigid spacecrafts in this paper.By using the proposed method,several adaptive and variable structure attitude tracking control laws for different modeling uncertainties can be derived in a unified theoretical frame,and the associate convergence proofs of closed-loop tracking system are provided.