Constrained spacecraft attitude control on SO(3) using reference governors and nonlinear model predictive control

We develop nonlinear reference governor and nonlinear model predictive control schemes for constrained spacecraft attitude control. The schemes use the nonlinear discrete-time model of spacecraft dynamics based on the Lie group variational integrator evolving on SO(3) × SO(3). The reference governor is a computationally simpler add-on to the nominal controller, while the model predictive controller provides faster response and better performance. The stability properties and constrained domains of attraction of these schemes are analyzed and their capability to perform global rest-to-rest reorientation maneuvers is established. Simulation results are reported where controllers perform specified reorientation maneuvers while adhering to torque and inclusion zone constraints.