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A control scheme is developed to address the attitude tracking problem of a rigid spacecraft. A sufficient condition to accommodate actuator misalignment is presented. The controller asymptotically stabilizes the closed-loop attitude tracking system. The desired attitude trajectories can be tracked in finite time, even in the presence of uncertain inertia tensor, external disturbances, actuator fault, and actuator misalignment. The attitude tracking performance of the controller is evaluated through an illustrative example.