Attitude Tracking Control With Constraints for Rigid Spacecraft Based on Control Barrier Lyapunov Functions

This article investigates the attitude tracking control problem with constraints for rigid spacecraft subject to parameter uncertainty and external disturbance. Based on the concept of the safety control problem, the investigated problem is formulated as the stabilization of the corresponding attitude tracking error system of the rigid spacecraft. By using the inverse optimal control approach, a control Lyapunov-barrier function (CLBF)-based controller is proposed for the stabilization of the spacecraft attitude tracking error system via combining a designed control barrier function and an existing control Lyapunov function. For ensuring the robustness of the proposed CLBF-based controller in the presence of parameter uncertainty and external disturbance, a sliding-mode control part is added in the presented controller. It is proven through the Lyapunov stability theory that the closed-loop system under the proposed controller is practical finite-time stable. Simulation results are given to show the effectiveness of the developed CLBF-based attitude tracking controller.