Globally asymptotically stabilizing control laws are derived for rigid spacecraft attitude regulation. Two different approaches are introduced, one that seeks to derive a PID-like controller through a special Lyapunov function construction involving quadratic cross state weighting and the other via recursive passivation. Numerical simulations are performed to illustrate the performance of the two control laws. We show that the recursive passivation based controller (Controller #2) requires the knowledge of the inertia matrix for the controller implementation while the Lyapunov construction based controller (Controller #1) only needs the upper bound of the inertia matrix.

中文翻译：

---

刚体姿态稳定的非线性PID像控制器

对于刚性航天器姿态调节，导出了全局渐近稳定控制律。介绍了两种不同的方法，一种通过特殊的Lyapunov函数构造（包括二次交叉状态加权）寻求派生类PID控制器，另一种通过递归钝化方法。进行数值模拟以说明两个控制定律的性能。我们表明，基于递归钝化的控制器（控制器2）需要了解惯性矩阵才能实现控制器，而基于Lyapunov构造的控制器（控制器1）仅需要惯性矩阵的上限。