Abstract: Aiming at the attitude control problems of strict feedback three axis stabilized spacecraft, a robust control method is proposed considering the existence of model uncertainty, unknown external disturbance and system delay. Firstly, the kinematics and dynamics models of spacecraft errors are established. The neural network is used to approximate the uncertainty and unknown disturbance of the system， and the barrier Lyapunov function is introduced to deal with the system state constraints. Then, a robust adaptive attitude controller is constructed by backstepping method, and the closed loop system is proved to be uniformly bounded by the Lyapunov method. Finally, the feedforward compensation for the known time delay is carried out based on practical engineering experience. The semi physical simulation results show the effectiveness and robustness of the proposed controller.

Key words: Backstepping, Barrier Lyapunov functions, Adaptive neural network, Semi physical simulation