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研究了刚体飞行器大角度机动的姿态控制问题。采用四元数描述刚体姿态， 建立了刚体姿态运动的数学模型。基于反馈非线性化技术， 通过构造李雅普诺夫函数推导出标量增益的线性控制律和矩阵增益的非线性控制律。两种控制律不需要知道系统参数， 对模型误差具有鲁棒性。理论分析和仿真结果表明， 所求控制律对闭环系统具有全局渐近稳定性。
The attitude control problem of rigid-maneuverable large-angle maneuver is studied. Quaternion is used to describe rigid body attitude and a mathematical model of rigid body attitude movement is established. Based on the feedback nonlinearization technique, a linear control law of scalar gain and a nonlinear control law of matrix gain are deduced by constructing Lyapunov function. The two control laws do not need to know the system parameters and are robust to model errors. Theoretical analysis and simulation results show that the proposed control law has the global asymptotic stability to the closed-loop system.