Attitude control subjected to pointing constraints is a requirement for most spacecraft missions carrying sensitive on-board equipment. Pointing constraints can be divided into two categories. Exclusion zones are defined for sensitive equipment such as telescopes or cameras that can be damaged from celestial objects. Inclusion zones are defined for communication hardware and solar arrays. Common frame dynamics are fully derived for Modified Rodrigues Parameters and introduced to an existing novel technique for constrained spacecraft attitude control, which uses a kinematic steering law and servo sub-system. Lyapunov methods are used to redevelop the steering law and servo sub-system in the common frame for the tracking problem for both static and dynamic conic constraints. A numerical example and comparison between the original frame and the common frame for the static constrained tracking problem are presented under both unbounded and limited torque capabilities. Monte Carlo simulations are performed to validate the convergence of the constrained tracking problem for static conic constraints under small perturbations of the initial conditions. The performance of dynamic conic constraints in the tracking problem is addressed and a numerical example is presented. Applying common frame dynamics in the constrained problem shows decreased control effort required to rotate the spacecraft for unbounded and bounded torque.
