建立了小卫星相对轨道和姿态的误差动力学模型，根据作业任务和姿态指向要求确定了小卫星相对轨道和姿态的期望运动；

Positional and attitude error dynamics model of small satellite relative to a target satellite was derived, then the desired relative orbit and desired attitude of small satellite were designed.

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首先根据由误差四元数和误差角速度描述的跟踪误差动力学和运动学方程，设计了基于李亚普诺夫方法的滑模变结构控制律。

First, according to the tracking error dynamics and kinematics described by unit quaternion error and angular velocity error, a sliding mode controller is derived based on Lyapunov theory.

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