Adaptive Fault-Tolerant Spacecraft Attitude Control Design With Transient Response Control

Abstract

This paper proposes an adaptive fault tolerant attitude controller, based on variable structure control, to address tracking control problem of spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. In contrast to traditional robust fault tolerant attitude controllers, the proposed controller is capable of controlling the transient response of the closed loop system by means of a dedicated parameter. Also this method does not require exact knowledge of the actuator faults and is implemented with uncertain value of fault information. By adjusting a simple parameter dynamically and using Lyapunov direct method and the properties of quaternion representation, the ultimate boundedness of attitude and angular velocity errors in presence of external disturbances is proven. Numerical simulations used to prove the success of proposed controller in achieving high attitude performance in the presence of external disturbances, inexact knowledge of fault information, actuator failures and control input saturation.