Globally convergent adaptive control of spacecraft angular velocity without inertia modeling

The problem of a spacecraft tracking a desired angular velocity trajectory is addressed using adaptive feedback control. The control law, which has the form of a sixth-order dynamic compensator, does not require knowledge of the inertia or center of mass of the spacecraft. A Lyapunov argument is used to show that tracking is achieved globally. A constant spin about a body fixed axis is commanded to illustrate the control algorithm. Finally, periodic commands are used to identify the inertia matrix of the spacecraft