Abstract. This research studies the robust optimal control for attitude tracking of a rigid spacecraft. The objective is to zero the states of the attitude control system with a bounded control, while considering some state dependent cost. Lyapunov optimizing control and the concept of the descent function are employed to derive a control algorithm that offers the asymptotic stability of the origin. The proposed control includes a singular control regime that produces a switching surface, whose existence and placement is forced by function minimization in addition to stability of reduced order dynamics. The second method of Lyapunov is used to show that trajectories of the control system reach the switching surface and the asymptotic stability of the origin can be guaranteed. An example of multiaxial attitude manoeuvres is presented and simulation results are given to verify the usefulness of the proposed controller.

Received: April 19, 2012

AMS Subject Classification: 93D05, 93D09, 49K99

Key Words and Phrases: attitude tracking, Lyapunov optimizing sliding mode control, quickest descent control, descent function

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