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Among various satellite actuators, magnetic torquers have been widelyequipped for stabilization and attitude control of small satellites. Althoughmagnetorquers are generally used with other actuators, such as momentum wheels,this paper explores a control method where only a magnetic actuation isavailable. We applied a nonlinear optimal control method, Nonlinear ModelPredictive Control (NMPC), to small satellites, employing the generalizedminimal residual (GMRES) method, which generates continuous control inputs.Onboard magnetic actuation systems often find it challenging to produce smoothmagnetic moments as a control input; hence, we employ the Pulse WidthModulation (PWM) method, which discretizes a control input and reduces theburden on actuators. In our case, the PWM approach discretizes control torquesgenerated by the NMPC scheme. This study's main contributions are investigatingthe NMPC and the GMRES method applied to small spacecraft and presenting thePWM control system's feasibility.

Pulse Width Modulation Method Applied to Nonlinear Model Predictive Control on an Under-actuated Small Satellite