Attitude-Orbit Coupling Control Based on the Fully-Actuated Systems Approach Utilizing Dual Quaternion

The dual quaternion-based spacecraft relative motion model is recognized for its structural simplicity and high accuracy achieved through comprehensively considering attitude-orbit coupling effects. However, its application has been constrained by the computational complexity inherent in dual operations, with most control methodologies being difficult to implement. This paper proposes a dual quaternion-based control framework grounded in the fully-actuated system (FAS) theory. The method is extended to a leader-follower configuration, enabling integrated attitude and position control. Furthermore, an extremely simple and efficient control algorithm is developed, and a dynamic parameter adjustment mechanism is introduced to optimize control performance. Simulation results demonstrate the superiority of the proposed method in both precision and efficiency, proving its suitability for complex space missions.