A Fully-actuated System Approach for Spacecraft Attitude Control with Input Saturation

• Published in: 2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA) pp. 705 - 710
• Main Authors: Feng, Zhenyu, Liu, Ming, Cao, Xibin
• Format: Conference Proceeding
• Language: English
• Published: IEEE 14.07.2023
• Subjects: Adaptive control; Attitude control; Fully-actuated system; Input saturation; Nonlinear dynamical systems; Numerical simulation; Nussbaum-type function; Observers; Space vehicles; Stability analysis; Uncertainty
• DOI: 10.1109/CFASTA57821.2023.10243370

This paper investigates the attitude control problem for a rigid spacecraft subject to external disturbances and actuator saturation. A novel control scheme is technically proposed by incorporating the Nussbaum gain technique and extended state observer into the fully-actuated system theory. First, a fully-actuated system model for the attitude error dynamics is established. Then, the Nussbaum gain technique is employed to tackle the time-varying input gains arising from input saturation, and an extended state observer is introduced to estimate and compensate system uncertainties and external disturbances. The stability of the closed-loop system and the convergence of state errors are accordingly proven via Lyapunov stability approaches. Finally, a numerical simulation is carried out to validate the effectiveness of the proposed scheme.