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Feedback reconfiguration of underactuated multibody spacecraft

In this paper, a time-varying feedback control law for three dimensional reconfiguration of a multibody spacecraft with joint actuation only is presented. Its construction is based on a formula that was developed in Rui et al. (1996) for approximating the orientation changes induced by small amplitude periodic joint motions. The control law is everywhere continuous and smooth (C/sup /spl infin//) everywhere except at the equilibrium. The control law globally exponentially practically stabilizes both orientation and shape of the multibody spacecraft.