Figure18

Figure 18. The control inputs $$ u_{12}(t)=[u_{12x}(t), u_{12y}(t), u_{12z}(t), u_{12\theta_{1}}(t), u_{12\theta_{2}}(t), u_{12\theta_{3}}(t)]^T $$ in (4) of feedforward linearization reference control law of the 12th satellite