Integrated adaptive backstepping attitude control of spacecraft

In this paper, a nonlinear adaptive backstepping Lyapunov-based controller is designed for spacecraft. Using the Lyapunov theory, the integrated adaptive backstepping controller proves the system's stability. Moreover, the tuning functions are defined by which the stability conditions are satisfied. Not only do they satisfy the stability conditions, but also they estimate the uncertainties. Simulation results are presented to accredit and analyze the performance and stability of the proposed adaptive controller in presence of disturbance torque.