In the torque-free case, the attitude motion of a spacecraft with dual rigid bodies can be controlled by a hinge joint, which is formed by spherical or universal joint. Based on the conservation of angular momentum, the spacecraft with dual rigid bodies and problem of 3-dimensional attitude motion control are studied. The 3-dimensional attitude control model is given in this paper and the problem of attitude motion control is transformed into the motion planning problem of system without drift. Using optimal control and spline approximation, the particle swarm algorithm is introduced into the control inputs and the numerical algorithm for optimal motion planning is proposed. The optimal control of motion planning is smooth and the initial and final values are zero. The simulation shows that this method is effective for the 3-dimensional attitude motion planning of spacecraft with dual rigid bodies.
; 郭正雄
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