Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 23, Issue 3, Pages 1338-1349Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2812871
Keywords
Actuators; attitude tracking; control allocation; fault-tolerant control (FTC); model reference adaptive control
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The problem of rigid-body attitude tracking is examined for the case that there exist actuator faults and angular velocity constraints during the attitude maneuver. With a hyperbolic tangent function as input signal, a first-order command filter is proposed to generate a virtual velocity error command for the angular velocity tracking error to follow. Then, an adaptive fault-tolerant controller based on the command filter is designed without requiring information of actuator fault, moment of inertia, and external disturbances. Through Lyapunov stability analysis, it is shown that the control law guarantees that the desired attitude is tracked even in the presence of actuator faults and external disturbances. Finally, simulations are conducted on a rigid spacecraft and results demonstrate the effectiveness of the proposed strategy.
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