This chapter discusses spacecraft precision three‐axis attitude control based on reaction wheel actuation and star tracker and gyro sensing. The nonlinear dynamics and kinematics associated with a rigid body with
n
reaction wheels are presented. A linearized controller using
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reaction wheels is designed that stabilizes the three‐axis attitude dynamics, while commanding desired spacecraft attitude, rate, and acceleration. Properties of the attitude controller are discussed including its stability, command tracking, and disturbance rejection properties. Sensor errors and reaction wheel disturbances are discussed as the two main sources of pointing error. Methods are presented to model these errors and to deal with their effects.