Fully-Actuated System Approach Based Optimal Attitude Tracking Control of Rigid Spacecraft with Actuator Saturation

In this paper, a fully-actuated system approach (FASA) based control method is proposed for rigid spacecraft attitude tracking with actuator saturation. First, a second-order fully-actuated form of spacecraft attitude error model is established by modified Rodrigues parameters (MRPs). The unknown total disturbance caused by inertial uncertainty and external disturbance is estimated by using extended state observer, then an FASA based controller is developed. Further, a control parameterization method is adopted to optimize the parameter matrices of FASA based controller with the actuator saturation. Finally, a numerical example is carried out to validate the effectiveness of the proposed scheme.