基 于 二 阶 全 驱 系 统 的 航 天 器 姿 态 避 障 控 制

An attitude maneuver control method based on a fully actuated system model is proposed for large-angle maneuvers of spacecraft in the presence of attitude forbidden region and disturbance torque. The attitude kinematics is developed on the 3-dimensional Special Orthogonal Group（SO（3）），and the second-order fully actuated model of error attitude is established based on exponential coordinates，the corresponding Lie algebra of SO（3）. The Barrier Lyapunov Functions（BLFs）based on SO（3）are introduced to ensure that the attitude constraints are obeyed when the values of BLFs are bounded. Finally，the Total Lyapunov Function（TLF）containing the BLFs is developed and analyzed. The nonlinear terms in the derivative of TLF are eliminated by using the sliding mode technique and the properties of parameter matrices in the second-order fully actuated model to get a concise control law. Numerical simulation results indicate that using the proposed control method，the spacecraft converges to the desired attitude without entering the attitude forbidden region，and the steady-state error and control energy consumption perform better than the existing methods.