NONLINEAR OBSERVER AND OUTPUT-FEEDBACK ATTITUDE-CONTROL OF SPACECRAFT

The problem of controlling a spacecraft by measuring only the angular positions (roll, pitch and yaw) is considered. A nonlinear observer is proposed which asymptotically reconstructs all the spacecraft state variables; if the spacecraft actuators are reaction wheels, the angular velocities of the wheels also need to be measured. It is shown that if the observer is used in connection with asymptotically stable state feedback controllers, the extended system (spacecraft, controller, and observer) is still asymptotically stable. Simulation results are reported to illustrate the dynamic behavior of the proposed observer.