Finite-time adaptive fault-tolerant control for rigid spacecraft attitude tracking

Abstract

This paper provides a new solution for the finite-time attitude maneuvers of rigid spacecraft. Uncertainties involving unknown inertial parameters, external disturbances and actuator failures are taken into account. With an effort to achieve attitude tracking despite the impact of uncertainties, a non-singular terminal sliding mode (NTSM) manifold consisting of attitude errors and angular velocity errors is first constructed. After that, a simple but efficient adaptive updating law is derived to estimate the upper bound of the lumped unknown function in the derivative of sliding surface. Combining NTSM technology and pure adaptive control, a chattering-free fault-tolerant controller is presented. The premise assumptions on uncertainties in most of the existing achievements are eliminated, which makes the controller less constrained and more practical. The rigorous proof of finite-time stability is provided and the convergent regions of tracking errors are explicitly expressed. Finally, numerical simulation is conducted to verify the effectiveness of the proposed control scheme and the comparison experiments with relevant literature demonstrate the satisfactory performances.