Attitude control design of underactuated mass moment spacecraft based on nonsmooth Lipschitz surface

In this paper we investigate the attitude control problems of underactuated spacecraft by moving masses. First, the attitude dynamics and kinematics equations of underactuated spacecrafts with two moving masses are given. Then, considering the stabilization of the roll and pitch attitude, We present a controller designed using a linear Lipschtiz surface combined with the traditional sliding model control method. This method can increase the parameters degree of freedom to solve the control problem brought by the constraints of underactuated system. Using the contingent cone criteria, the existence and accessibility conditions of the switching surface are addressed. Eventually, based on the equivalence principle, the controllers for the roll, pitch and yaw attitude stabilization are presented and testified by the simulation, respectively. The simulation results show the effectiveness of the proposed method.