Position and attitude feedback controller of a planar satellite with two thrusters

This paper proposes a feedback control method for the in-plane motion of a satellite equipped with two thrusters, whose force directions are fixed to the satellite. The satellite´s equations of motion have second-order nonholonomic constraints. This paper utilizes an invariant manifold and develops a feedback controller based on the Lyapunov´s second method. The developed controller can control the satellite´s state composed of six components for the position and attitude angle by two thruster systems. Furthermore, the controller has robustness for the system´s modeling errors. Some simulations results are shown to demonstrate the effectiveness of the developed controller.