Anti-disturbance inverse optimal control for spacecraft position and attitude maneuvers with input saturation

Abstract

In this article, a new anti-disturbance inverse optimal translation and rotation control scheme for a rigid spacecraft with external disturbances and actuator constraint is presented. An inverse optimal controller with input saturations is designed to achieve asymptotic convergence to the desired translation and attitude and avoid the unwinding phenomenon. The derived optimal control law can minimize a given cost functional and guarantee the stability of the closed-loop system. Later, a new sliding mode disturbance observer is also proposed to compensate for the total disturbances. A rigorous Lyapunov analysis is employed to ensure the finite-time convergence of observer error dynamics. A numerical simulation of position and attitude maneuvers is given to verify the performance of the developed controller.