This paper investigates an attitude control method for the CubeSat using a moving mass actuator to solve the problem of the strong aerodynamic disturbance in low Earth orbit. The rotational and translational equations are derived for the CubeSat with three moving masses, and their dynamic effects are analyzed. A magnetorquer is used to prevent the underactuation of the attitude control system. The movement of moving masses is slowed down by using a discrete double-loop Proportion Integral Differential control method, thereby reducing the fast time-varying additional disturbance. A nonlinear observer is used for the precise estimation of the slow time-varying disturbance. Notably, the ideal attitude control torque is allocated to two actuators by using the proposed control allocation algorithm. Numerical simulation indicates that the attitude convergence accuracy is up to ±0.1° despite the uncertain dynamics, unknown disturbances, and dynamic effects. The results verify the feasibility of the proposed control method.
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