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中文摘要：
针对欠驱动航天器姿态稳定的非线性控制设计问题，给出了欠驱动航天器的姿态动力学方程和基于四元数描述的姿态运动学方程。根据航天器欠驱动轴的角速度分量是否为零分别设计相应的姿态稳定控制律。欠驱动轴角速度分量不为零时引进角速度误差和滑模函数，提出基于滑模函数的反馈控制律，使欠驱动航天器姿态达到稳定状态。数值仿真实验结果表明了所设计控制律的有效性。
英文摘要：
Nonlinear control of attitude stabilization of an underactuated spacecraft is designed in this paper. An underactuated spacecraft attitude dynamic equations and kinematic equations based on the quaternion parameterization are given. Corresponding attitude stabilization control laws are devised according to whether the uncontrolled axis angular velocity is zero or not. With the introduction of the angular velocity error and sliding mode function when the uncontrolled axis angular velocity is not zero, the feedback control laws based on sliding mode function are proposed to ensure the attitude stabilization of an underactuated spacecraft. Finally, the numerical simulation results show that the method is effective.
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