Back-stepping based integrated orbit and attitude control for on-orbit servicing spacecraft

This paper investigates the integrated orbit and attitude modelling and control problem for on-orbit servicing spacecraft. The integrated relative kinematic and dynamic model for the on-orbit servicing spacecraft and the target is established on the base of dual-quaternion. A backstepping control law is proposed, which is improved then in consideration of system uncertainties. Globally asymptotical stability is analyzed through Lyapunov stability for the closed-loop system. Numerical simulations demonstrate the effectiveness and validity of the proposed methods.