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<p>This paper investigates the coupled orbit–attitude dynamics of a rigid spacecraft in the Earth–Moon circular restricted three-body problem, with particular emphasis on gravity gradient torque. A unified 12-dimensional nonlinear model is formulated by combining the orbital equations of motion with the attitude kinematics and dynamics, where the attitude is represented using quaternions and angular velocity. This integrated framework enables a consistent description of the interaction between orbital and attitude dynamics under the Earth–Moon gravitational field. Using this formulation, coupled orbit–attitude periodic solutions are computed along the halo orbit family around the Earth–Moon <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(L_2\)</EquationSource> <EquationSource Format="MATHML"><math> <msub> <mi>L</mi> <mn>2</mn> </msub> </math></EquationSource> </InlineEquation> point. The existence and structure of these solutions are analyzed based on Floquet theory, and the associated invariant subspaces are characterized to clarify the stability properties of the coupled system. Based on the identified Floquet modes, a coupled orbit–attitude control strategy is discussed, in which the natural coupling dynamics are exploited to support long-term orbital maintenance while reducing control effort. The proposed framework enables systematic analysis and exploitation of the coupled orbit–attitude dynamics for station-keeping in the cislunar environment.</p>

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Coupled orbit–attitude dynamics and station–keeping in the Earth–Moon circular restricted three–body problem

  • 期刊论文

  • 发表日期：

    2026年7月21日

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  • Yuta Hayashi,
  • Naoki Hiraiwa,
  • Mai Bando,
  • Shanshan Pan,
  • Shinji Hokamoto

摘要

This paper investigates the coupled orbit–attitude dynamics of a rigid spacecraft in the Earth–Moon circular restricted three-body problem, with particular emphasis on gravity gradient torque. A unified 12-dimensional nonlinear model is formulated by combining the orbital equations of motion with the attitude kinematics and dynamics, where the attitude is represented using quaternions and angular velocity. This integrated framework enables a consistent description of the interaction between orbital and attitude dynamics under the Earth–Moon gravitational field. Using this formulation, coupled orbit–attitude periodic solutions are computed along the halo orbit family around the Earth–Moon \(L_2\) L 2 point. The existence and structure of these solutions are analyzed based on Floquet theory, and the associated invariant subspaces are characterized to clarify the stability properties of the coupled system. Based on the identified Floquet modes, a coupled orbit–attitude control strategy is discussed, in which the natural coupling dynamics are exploited to support long-term orbital maintenance while reducing control effort. The proposed framework enables systematic analysis and exploitation of the coupled orbit–attitude dynamics for station-keeping in the cislunar environment.