Satellite Attitude Control Using Faulty Double Gimbal Variable Speed Control Moment Gyroscope

Abstract

A rigid satellite attitude control requires stable finite-time attitude convergence in the presence of rotation unwinding, external disturbances, and actuator faults. To achieve this, a new nonsingular fast fixed-time sliding mode controller is proposed to ensure finite-time convergence independent of the initial conditions of the system. Rotation unwinding is addressed using the body and shadow pair of the Modified Rodrigues Parameters (MRPs). Convergence behavior of the states errors in the neighborhood of the MRPs switching surface is also addressed. Attitude control is achieved using a double-gimbal variable-speed control moment gyro (DGVSCMG). For the first time, a DGVSCMG having all possible electrical and mechanical faults is considered for control design. A novel nonsingular fast fixed-time anti-unwinding fault-tolerant sliding control using a new sliding surface is proposed. This eliminates switching of the sliding surfaces and minimizes control chattering. Four new propositions are proposed and proved to establish fast fixed-time global stability of the system for tracking maneuver in fault and fault-free conditions with anti-unwinding. Simulation results are presented and compared with existing fixed-time sliding control approaches. The results show superiority of the proposed anti-unwinding fault-tolerant fast fixed-time control for the tracking maneuver in terms of convergence time, energy efficiency, and fault tolerance.