Abstract

We present an approach for constructing optimal feedback control laws for regulation of a rotating rigid spacecraft. We employ the inverse optimal control approach which circumvents the task of solving a Hamilton-Jacobi equation and results in a controller optimal with respect to a meaningful cost functional. The inverse optimality approach requires the knowledge of a control Lyapunov function and a stabilizing control law of a particular form. For the spacecraft problem, they are both constructed using the method of integrator backstepping. We give a characterization of (nonlinear) stability margins achieved with the inverse optimal control law. Keywords--- Attitude control, stabilization, inverse optimality, stability margins, backstepping. I. Introduction Optimal control of rigid bodies has a long history stemming from interest in the control of rigid spacecraft and aircraft [1], [2], [3], [4], [5]. The main thrust of this research has been directed, however, towards the time-opti...

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