Adaptive attitude compensation integrating with control allocation for over-actuated spacecraft

Abstract:

An adaptive compensation control scheme is presented to address the problems of actuator misalignments and external disturbances for over-actuated spacecraft. It is proven by Lyapunov stability theory that the desired attitude trajectories are followed in finite-time. The attitude tracking error is almost globally asymptotically stable. Taking torque position and speed constraint of actuators into consideration, a dynamic control allocation strategy is designed to ensure the energy optimization and stationarity of control torque. With application of the proposed approach to attitude tracking maneuver of a spacecraft, simulation results verifies that good robustness to uncertain inertia parameters is ensured, external disturbances and actuator misalignments are successfully compensated, and the proposed methodology is able to achieve energy optimization.