Fault-tolerant model predictive sliding mode control with fixed-time attitude stabilization and vibration suppression of flexible spacecraft

Abstract

This brief proposes two novel double-loop fault-tolerant controllers to tackle the problems of stabilizing the attitude and nullifying appendages' vibration of flexible spacecraft by integrating the advantages of model predictive control (MPC) and sliding mode control (SMC). The structure of the first method is as follows: First in the external loop, by using terminal sliding mode (TSM), the attitude of the spacecraft is derived to its reference value, and the proper angular velocity of the interior part is generated. Then, by employing the preciseness and constrained attributes of MPC, an optimal fault-tolerant controller is suggested in the internal part. Constrained fault-tolerant MPC tracks the angular velocity to the set value while guaranteeing appendages' passive vibration suppression. In another method, as opposed to the first technique, in the inner loop fault-tolerant finite-time TSM, and in the outer loop MPC are designed. The unified double-layer nonlinear controller schemes guarantee good dynamics and robustness against external torques and actuator faults. The closed-loop system's stability of the controllers is precisely proved using the Lyapunov theorem in the presence of actuator faults and external disturbances and in the absence of the damping matrix to study the advantages of the proposed methods. The performance of the proposed methods has been compared with each other. Moreover, the simulation results substantiate that the proposed method outperforms faster fixed-time sliding model control significantly.