Analytical Maneuver Library for Remote Inspection with an Underactuated Spacecraft

Nonlinear Tracking Control of an Underactuated Spacecraft

In this paper, we design a nonlinear controller for the kinematic model of an underactuated rigid spacecraft that ensures uniform, ultimately bounded (UUB) tracking provided the initial errors are selected sufficiently small. The result is achieved via a judicious formulation of the spacecraft kinematics and the novel design of a Lyapunov-based controller. We also discuss how standard backstepp...

Control of underactuated spacecraft with bounded inputs

We provide stabilizing feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. The proposed control law forces all closed-loop trajectories in a region of the state space where the control inputs are small and bounded. The control law is subsequently extended to solve the case of attitude tracking for an underactuated spacecraft u...

Partial Attitude Synchronization of Underactuated Spacecraft Systems

Attitude Control of Underactuated Multibody Spacecraft

A three dimensional reorientation problem for an underactuated multi-body spacecraft is studied. Formulae for approximating the change in orientation of the base body of the spacecraft, induced by appropriately constructed small amplitude periodic joint motions, are derived. These formulae are used to construct joint motions that cause a desired reorientation maneuver to be performed within a p...

Stabilization and Tracking of Underactuated Axisymmetric Spacecraft with Bounded Control

We provide stabilizing and tracking feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. As a special case we also provide a feedback control to track a specified direction in inertial space. All proposed control laws achieve asymptotic stability with exponential convergence. One of the novelties of the proposed control design ...