Explicit reference governor based spacecraft attitude reorientation control with constraints and disturbances

Abstract

This paper addresses the attitude reorientation problem under the pointing-constraint zone, angular velocity limits, and actuator constraints. The ERG-based control scheme is designed such that the attitude is stabilized, while the state and control constraints stay in the allowable regions defined by the Lyapunov invariant subset. The disturbance observer-based control law is developed in the inner loop of ERG that enables attitude stabilization in the presence of external disturbance. The navigation layer is utilized to manipulate the reference state to enforcing constraints satisfaction. The effectiveness of the proposed constrained attitude control algorithm is then verified through numerical simulations.