Abstract
In this paper, attitude control of a spacecraft which consists of two rigid bodies coupled by a ball joint is discussed. First, we propose a time-invariant discontinuous feedback controller for a class of nonholonomic systems, first order systems, based on Lyapunov control. The first order system is a system where the input vector fields and the first level of Lie brackets between them span the tangent space at each configuration. Next, the controller is applied to the spacecraft when the angular momentum of the system is zero, and the effectiveness of the controller is verified by numerical simulations.
