研究欠驱动刚体航天器姿态控制系统的稳定性问题.首先给出欠驱动刚体航天器的姿态动力擘方程和用(w,z)参数描述的姿态运动学方程,根据所建系统模型的特点,设计相应的连续时变控制律,在控制律的设计中引入辅助变量v、vl和v2,利用平均方法对系统模型方程进行简化,基于退步控制设计v、v1和v2的控制律,利用两个轴角速度与失控轴角速度的交叉耦合关系对失控轴的姿态进行控制.数值仿真验证了所设计控制律的有效性.“,”The problem of stabilization was studied for an underactuated rigid spacecraft. First of all, the system dynamic and kinematic equations were given, and the kinematic equation was described by the (w, z) parameterization. Some continuous time-varying control laws were then designed based on the characteristic of the system model. The accessorial variables v、 v1 and v2 were imported in the designing course of the control laws. The equations of the system model were predigested using the averaging method, then the control laws of the v 、 v1 and v2 were contrived via backstepping method. The cross coupling relation of angular velocity was utilized to regulate the uncontrollable attitude component. Simulating results validate the availability of the proposed control algorithm.