Robust attitude tracking control for spacecraft with prescribed performance

An inertia-free robust attitude control technique is addressed for the spacecraft in presence of inertia uncertainties and external disturbance. The pre-scribed performance can be achieved under the proposed control law. A transformed error quaternion dynamics is firstly established with the application of the Prescribed Performance Function (PPF). Based on the newly defined transformed system, a robust control law is derived without the prior information of the disturbance and the uncertainties, and even the inertial matrix is not required. It is proved that the original system states, quaternions and angular velocities, will achieve the asymptotic stability. The simulation results also verify the effectiveness of the proposed control law.