Abstract: Abstract： Considering disturbance torque, model uncertainty and control torque and angular velocity constraint, a novel PD+ attitude controller for satellite smoothly and quickly tracking a dynamic target is proposed in this paper. The standard PD controller is modified and some additional terms are added so that system can converge along the desired trajectory. The variable structure method is implemented to improve system convergence rate. The coupled terms are added in the Lyapunov function and system stability analysis is much simplified. The worst condition is discussed and the lower and upper bands of V function are considered to ensure the global stability under all conditions. The numerical simulation results are demonstrated to show the effectiveness and superiority of the proposed controller.

Key words: Keywords： dynamic target tracking, attitude control, robust control, fast PD+ control