Adaptive fault-tolerant attitude control on SO(3) under multiple attitude constraints and finite sequential actuator faults

The control problem of rigid body attitude redirection with attitude constraints and the fault-tolerant control problem of actuator faults have been extensively investigated individually. However, the challenge remains in addressing the rigid body attitude redirection problem under initial attitude violation constraints and a finite sequence of actuator faults. Finite sequential actuator faults can compromise system controllability or induce system instability, while violations of attitude constraints may result in equipment damage or mission failure. Therefore, this paper aims to address the spacecraft attitude redirection problem under mixed attitude constraints with arbitrary initial attitudes and a finite sequence of actuator faults. By leveraging the SO(3) framework, we establish the mathematical model for attitudes and error functions as well as define the mathematical constraint set for the mixed attitude constraint region. Additionally, we construct a potential function based on logarithmic barriers to facilitate spacecraft redirection while satisfying both forbidden and mandatory attitude constraints. Considering the initial attitude of the spacecraft being contrary to the constraints, we propose a potential function with switching characteristics to accommodate any initial attitude. Additionally, we introduce a hysteresis switching function to smoothen the switching process and minimize control chattering. To address the challenge posed by finite sequence actuator faults, an adaptive actuator fault direct compensation matrix is designed to mitigate their impact. By incorporating a logarithmic potential function into the backstepping controller, we present an arbitrary initial mixed attitude constraints adaptive fault-tolerant controller that ensures stability and effectiveness in dealing with aforementioned constraints and faults. Simulation results validate the applicability of our proposed controller for spacecraft attitude redirection tasks under mixed attitude constraints with arbitrary initial attitudes and finite sequence actuator faults. These studies not only emphasize its energy consumption efficiency but also affirm its robustness against external disturbances and measurement noise. © 2024 IAA