A Hamiltonian approach to dynamics and stabilization of spacecraft multibody systems

The attitude motion equations of spacecraft multibody system take on nonholonomic constraints without external forces. The dynamic and attitude control of spacecraft multibody system is concerned with nonholonomic constraints system in Hamiltonian approach. The two point boundary value problem of nonlinear dynamic differential equations can be converted into initial value problem by feedback control. Furthermore, the control action has a clear physical interpretation by Hamiltonian approach. The process of model and control is introduced in this paper. At last, a numerical example by space robot with two arms shows the effectiveness of this approach.