Singularity Free Prescribed Performance Attitude Tracking Control of Spacecraft via Immersion and Invariance

This paper proposes a singularity free prescribed performance control method to solve the spacecraft attitude tracking problem via the immersion and invariance methodology. A time-varying target system and an immersion mapping are elaborately selected according to the performance function, making sure that there is no reaching phase of the implicit manifold and the attitude tracking error is always inside the given performance bound when it moves on the manifold. Then a robust control law is designed to restrict the bound of the off-the-manifold vector such that the performance requirements are met. The effectiveness and advantages of the proposed control method are illustrated by numerical simulations.