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This paper investigates the boresight alignment control problem under safetyconstraints and performance requirements, involving pointing-forbiddenconstraint, attitude angular velocity limitation, and pointing accuracyrequirement. Meanwhile, the parameter uncertainty issue is taken into accountsimultaneously. To address this problem, we propose a modified compositeframework integrating the Artificial Potential Field (APF) methodology and thePrescribed Performance Control (PPC) scheme. The APF scheme ensures safety,while the PPC scheme is employed to realize an accuracy-guaranteed control. ASwitched Prescribed Performance Function (SPPF) is proposed to facilitate theintegration, which monitors various constraints and further establishescompatibility between safety and performance concerns by leveraging a specialPPC freezing mechanism. To further address the parameter uncertainty, weintroduce the Immersion-and-Invariance (I\&I) adaptive control technique toderive an adaptive APF-PPC composite controller, further guaranteeing theclosed-loop system's asymptotic convergence. Finally, numerical simulations arecarried out to validate the effectiveness of the proposed scheme.

Adaptive Reduced-Attitude Control for Spacecraft Boresight Alignment with Safety Constraints and Accuracy Requirements