This study investigated associations of attitude tracking control of an underactuated spacecraft with consideration of saturation and perturbations. A nonsingular attitude tracking control was proposed which did not need limiting initial conditions of the quaternions. The controller was analyzed based on Lyapunov criteria and LaSalle’s invariance theorem in the large-angle maneuver. In order to control, the complete kinematic and dynamic model of the underactuated spacecraft was reconstructed. According to simulation results, our controller has excellent robustness against the hard saturation, external disturbances, time-varying inertia uncertainties, and internal disturbances of actuators. As result, we found that the attitude controller was asymptotically stable under the soft saturation and the perturbations so that quaternions and angular velocity converged to the desired path within the 80 s. Also, it was still asymptotic stable under the hard saturation whose level is equal to 0.035 Nm, 3.5% of the soft saturation level. In this case, errors of quaternions and angular velocity were converged to the origin within the 150 s. Finally, the closed-loop system was verified by Adams-MATLAB co-simulation. The maximum verification errors for quaternions were less than 19%, while the maximum verification errors for angular velocity were less than 13.5%.

这项研究调查了考虑饱和度和扰动的欠驱动航天器姿态跟踪控制的关联。提出了一种非奇异的姿态跟踪控制方法，该方法不需要限制四元数的初始条件。在大角度机动中，基于Lyapunov准则和LaSalle不变性定理对控制器进行了分析。为了进行控制，重建了欠驱动航天器的完整运动学和动力学模型。根据仿真结果，我们的控制器对执行器的硬饱和，外部干扰，时变惯性不确定性和内部干扰具有出色的鲁棒性。结果，我们发现姿态控制器在软饱和和扰动下是渐近稳定的，因此四元数和角速度在80 s内收敛到所需的路径。而且，在水平为0.035 Nm（软饱和度的3.5％）的硬饱和度下，它仍然是渐近稳定的。在这种情况下，四元数和角速度的误差在150 s内收敛到原点。最后，通过Adams-MATLAB联合仿真验证了闭环系统。四元数的最大验证误差小于19％，而角速度的最大验证误差小于13.5％。四元数和角速度误差在150 s内收敛到原点。最后，通过Adams-MATLAB联合仿真验证了闭环系统。四元数的最大验证误差小于19％，而角速度的最大验证误差小于13.5％。四元数和角速度误差在150 s内收敛到原点。最后，通过Adams-MATLAB联合仿真验证了闭环系统。四元数的最大验证误差小于19％，而角速度的最大验证误差小于13.5％。