Robust fault-tolerant attitude tracking with guaranteed prescribed performance. Issue 1 (January 2020)

• Record Type: Journal Article
• Authors: Yue, Chengfei; Wang, Feng; Cao, Xibin; Shen, Qiang; Chen, Xueqin
• Is Part Of: Journal of the Franklin Institute. Volume 357:Issue 1(2020)
• Page Start: 229
• Page End: 253
• Publication Date: 2020-01
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2019.10.003
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: The robust fault-tolerant (FT) attitude tracking control problem with guaranteed prescribed performance is addressed in this paper. We consider the actuator fault, misalignment, sensor fault and external disturbance simultaneously and incorporate the L 2 control allocation (CA) method to minimize the use of faulty actuators. To guarantee the prescribed performance such as the steady-state tracking error, convergence rate, as well as overshoot and undershoot, the constrained quaternion error is transformed to an unconstrained state, whose stabilization is proven to be sufficient and necessary to guarantee the performance requirement. With the utilization of the transformed state and the compromised angular velocity error suffering from gyro faults, a novel adaptive sliding mode FT control law with CA is developed. Ultimate uniform boundedness of the compromised angular velocity error and transformed state is ensured to satisfy the specified tracking performance. Numerical simulations are conducted on a rigid spacecraft to illustrate the efficiency of the proposed robust FT control law.