状態フィードバックによる2つのスラスターをもつ衛星の面内位置・姿勢制御

This paper proposes a feedback control technique for the in-plane motion of a satellite equipped with two thrusters, whose force directions are fixed to the satellite. Such systems have second-order nonholonomic constraints due to the fixed force directions, and moreover their thruster forces are restricted to be unilateral. To control the satellites' global position and orientation, this paper develops a tracking controller to a designed invariant manifold based on the Lyapunov's second method. The developed controller is effective to control the satellite's global motion, even when the model parameters include some range of errors. Simulation results are shown to demonstrate the effectiveness of the developed controller.