The three-axis attitude tracking control of an underactuated spacecraft in the large-angle maneuver was investigated in this study. As a major contribution of this paper, a robust controller was developed to achieve the perfect attitude tracking of the underactuated spacecraft with consideration of saturation and uncertainties. Interestingly, due to non-singularity of this design, it could relax the burden of limiting the initial condition of the quaternions. The stability analysis of the developed controller could be guaranteed by Lyapunov method as shown here. Overall, the simulation results indicate that the proposed controller has robustness against saturation, external perturbations, inertia uncertainties, and internal disturbances of actuators. As result, the controller was asymptotically stable under the combination of the soft saturation and the perturbations so that attitude parameters converged to the desired path within the 230 s. In this case, the saturation level was consumed 0.08 N.m. Also, it was still asymptotic stable under the hard saturation whose level is equal to 0.01 Nm, 12.5% of the soft saturation level.

研究了欠驱动航天器在大角度机动中的三轴姿态跟踪控制。作为本文的主要贡献，开发了一种鲁棒控制器，以实现考虑饱和度和不确定性的欠驱动航天器的完美姿态跟踪。有趣的是，由于这种设计的非奇异性，它可以减轻限制四元数初始条件的负担。所开发控制器的稳定性分析可以通过 Lyapunov 方法来保证，如下所示。总体而言，仿真结果表明，所提出的控制器对饱和、外部扰动、惯性不确定性和执行器内部扰动具有鲁棒性。结果，控制器在软饱和和扰动的组合下渐近稳定，使得姿态参数在 230 秒内收敛到所需路径。在这种情况下，饱和水平消耗了0.08 Nm，在等于0.01 Nm的硬饱和下，它仍然是渐近稳定的，是软饱和水平的12.5%。