Robust adaptive dynamic surface control for attitude tracking of spacecraft

The spacecraft attitude motion equations described by the Euler angles are expressed in vector form and viewed as two blocks, a kinematics block and a dynamics block. Based on Lyapunov stability theory, a robust dynamic surface control algorithm is designed for the nonlinear control system of attitude tracking of spacecraft in the presence of parameter uncertainty and external disturbances. Then, the robust dynamic surface algorithm is combined with an adaptive update law such that the controller can be used when the inertial moments of the attitude control system are not known. Lyapunov analysis shows that this adaptive controller can also guarantee the asymptotical stability of Euler angles. Finally, the effectiveness of the presented control algorithms is verified via simulations.