中文摘要：

采用退步控制方法设计航天器姿态倾斜机动控制律.中间控制律采用了微分方程的形式,避免了传统退步控制方法中,对中间控制律进行的解析求导.在此基础上,采用了2种方法通过推迟控制力矩峰值出现的时间来减低对执行机构输出控制力矩最大值的要求：①改变中间控制律的积分初值;②采用跟踪性能相对较差的角速度控制律.尽管第2种方法的控制律的稳定性取决于控制器的参数,但可明确限定控制力矩的最大值.仿真结果证实了所提出控制律的有效性.

英文摘要：

The backstepping control method was applied to the slew maneuver of the rigid spacecraft. In order to avoid the complicated calculation of the derivation of the intermediate control law which is required in the conventional backstepping method, the intermediate control law presents in a form of differential equation. On this basis, two methods were applied to reduce the requirement in the max actuator output torque by means of postponing the peak of the control torque. One method is to change the initialization of the intermediate control law. The other is to utilize a worse angular velocity tracking law. The system stability with the second control law depends on the parameters of the controller, however, the max control torque can be accurately restricted. Simulation results illuminate the availability of the derived control laws.