中文摘要：

针对航天器相对姿态跟踪过程中严重的非线性及控制器设计的复杂性，建立了基于修正罗德里格斯参数的航天器相对姿态运动学和动力学方程并根据Lyapunov直接法设计了非线性前馈控制律。设计的控制律不仅保证闭环系统稳定，还使得航天器相对姿态跟踪误差快速收敛到零点邻域内。通过在Matlab／Simulink环境下对航天器相对姿态跟踪进行数值仿真，验证了建立模型和设计控制律的有效性。

英文摘要：

The spacecraft relative attitude kinematics and dynamics based on modified rodrigues parameters（MRP） were proposed in the presence of serious nonlinear and controller design complexity during spacecraft relative attitude tracking control. A nonlinear feedforward controller was designed using Lyapunov method. The control law can not only ensure global asymptotic steady of close-loop system, but also make relative attitude tracking errors converge to zero field speedily. By using Matlab/Simulink programming, the modeling and simulation of spacecraft relative attitude tracking were discussed. Numerical simulations are exploited to verify the effectiveness of the model and control law.