中文摘要：

带有万向联轴节联结的双刚体航天器系统在无外力矩作用时，其姿态运动可通过联结双刚体航天器的万向联轴节进行控制，这种由控制输入数目少于系统自由度的系统称为欠驱动系统。该文利用系统相对于总质心的动量矩守恒这一特性研究了欠驱动双刚体航天器的三维姿态运动控制问题。导出带有万向联轴节联结的双刚体航天器系统三维姿态运动控制模型，并将系统的控制问题转化为无漂移系统的运动规划问题，利用最优控制技术和小波分析方法，提出基于小波逼近的遗传算法最优运动规划数值算法。通过数值仿真，表明该方法对有万向联轴节联结的欠驱动双刚体航天器三维姿态运动的运动规划是有效的。

英文摘要：

In the torque-free case, the attitude motion of coupled rigid bodies spacecraft can be controled by a universal-joint model. This system is underactuated and characterized by the fact that there are more degrees of freedom than actuators. The attitude motion control of the underactuated system of coupled rigid bodies is investigated using angular momentum conservation in this paper. The control system of a coupled rigid-body spacecraft with an universal-joint model is obtained by using dynamics of multibody systems. The control problem of the system can be converted to the motion planning problem for a driftless system. The optimal control technique and wavelet analysis method is utilized and a numerical algorithm for motion planning of an underactuated system is proposed. The wavelet approximation is used to the optimal control and to generate an optimal trajectory for a coupled rigid body spacecraft. The effectiveness of the numerical algorithm is demonstrated for motion planning of an underactuated spacecraft by numerical simulation.