Abstract: In order to solve the problem of attitude-orbit dynamics coupling serving space missions in orbit, a feedback control law based on the Lyapunov stability criterion is proposed. The integrated coupled dynamics model based on the dual quaternions, is used to describe relative attitude-orbit of spacecraft in this paper. By making full use of the measurement information of velocity gyroscope and laser radar, a Lyapunov energy function is established and the control rate related to global asymptotic stability is obtained. Then the Chaos Particle Swarm Optimization algorithm（CPSO） is used to optimize the parameters of the controller to obtain the favourable control effect. Finally, the simulation results show that the proposed method not only ensures the relative attitude-orbit and tracking speed of the spacecraft converge to the expected value in a short time, but also has high tracking accuracy.

Key words: spacecraft, attitude-orbit, Lyapunov stability criterion, dual quaternions, Chaos Particle Swarm Optimization algorithm（CPSO）

摘要： 针对在轨服务航天任务中轨道与姿态动力学耦合问题，提出一种基于Lyapunov稳定性分析的反馈控制方法，采用基于对偶四元数的一体化耦合动力学模型来描述航天器的相对位置和相对姿态，利用速度陀螺仪与激光雷达的量测信息构建Lyapunov能量函数，得到满足系统全局渐进稳定的控制率。并用混沌粒子群算法（Chaos Particle Swarm Optimization algorithm，CPSO）优化控制器参数以便达到良好的控制效果。仿真结果表明，该方法不仅保证了航天器的相对轨道、相对姿态和跟踪速度在较短的时间内收敛至期望值，而且具有较高的跟踪精度。

关键词: 航天器, 姿态与轨道, Lyapunov稳定性, 对偶四元数, 混沌粒子群算法