The attitude trajectory tracking control problem of a rigid spacescraft with external disturbances is addressed using the robust inverse optimal control method. The proposed feedback control law has a PD sturcture and is optimal with respect to a cost functional involving tracking errors, control efforts and extended disturbances. In addition, the associated Lyapunov function satisfies a Hamilton-Jacobi-Isaacs partial differential equation. The controller is H-infinity optimal with repsect to extended disturbances. The performance limitation of the inverse optimal feedback controller is analyzed and guidelines for the selection of the controller gains are established.
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