Abstract: The influences of nonlinear centrifugal force to large overall attitude motion of coupled rigid-flexible system was investigated. First the nonlinear model of the coupled rigidflexible system was deduced from the idea of "centrifugal potential field", and then the dynamic effects of the nonlinear centrifugal force to system attitude motion were analyzed by approximate calculation; At last, the Lyapunov function based on energy norm was selected, in the condition that only the measured values of attitude and attitude speed are available, and it is proved that the PD feedback control law can ensure the attitude stability during large angle maneuver.

Key words: Liapunov-Schmidt reduction, singularity theory, bifurcation