Adaptive Attitude Control of Uncertain Spacecraft with Attitude and Angular Velocity Constraints

In this paper, the rest-to-rest reorientation problem of the uncertain spacecraft with multiple attitude constrained zones and angular velocity limitations is studied. In order to deal with attitude and angular velocity constraints concurrently, two types of logarithmic potential functions are proposed, where the ineffective attitude constraints are excluded in the design of attitude potential function by introducing a warning angle. In addition, we also designed a projection operator-based adaptive law to estimate the upper bounds of the inertia uncertain parameters and the environmental disturbances, so that the estimation process conforms to the physical meaning of the parameters. Combining the two potential functions and the parameters adaptation law, an adaptive controller is constructed to asymptotically stabilize the attitude reorientation error while satisfying the attitude and the angular velocity constraints. Simulation example of an uncertain spacecraft with rest-to-rest attitude maneuver subject to constraints on attitude and angular velocity is carried out, and the obtained results verify the effectiveness of the proposed adaptive attitude controller.