Attitude control of on-orbit capture spacecraft with angular velocity constraint

Aiming at the attitude control problem of spacecraft in the capturing non-cooperative target process, a dual tracking robust adaptive attitude controller is designed. Firstly, a bounded virtual angular velocity is designed for the kinematics equations to guarantee that the attitude converges to zero quickly. Secondly, a new attitude controller is constructed based on the barrier Lyapunov function to ensure that the tracking error between virtual angular velocity and real angular velocity is bounded. The physical constraint of the angular velocity is satisfied. Applying Lyapunov's stability theory, the global asymptotic stability of the closed-loop system is analyzed. To overcome the nonlinear parameter perturbation with unknown upper bound in the process of capturing non-cooperative target, an adaptive updating law based on linear regression operator is constructed to estimate the rotational inertia on-line. Finally, the process of capturing the trajectory tracking of non-cooperative targets through numerical simulation. The simulation results demonstrate that the algorithm designed is effective and robust under the constraint of the bounded angular velocity or internal parameter perturbation with unknown upper bound