Control Allocation for Spacecraft Under Actuator Faults

Preface
Acknowledgements
Contents
Acronyms
1 Introduction
	1.1 Background and Motivations
	1.2 Introduction to Control Allocation
		1.2.1 Control Allocation Methods
		1.2.2 Applications of Control Allocation in Aeronautics and Astronautics
	1.3 Introduction to Fault-Tolerant Control
		1.3.1 Fault-Tolerant Control Methods
		1.3.2 Applications of Fault-Tolerant Control in Aeronautics and Astronautics
	1.4 Organization of the Book
	References
2 Mathematical Model of the Attitude Control System
	2.1 Spacecraft Attitude Kinematics
		2.1.1 Euler Angles Based Model
		2.1.2 Quaternion Based Model
		2.1.3 Modified Rodrigues Parameters Based Model
	2.2 Spacecraft Attitude Dynamics Model
	References
3 Null-Space Based Optimal Control Allocation for Spacecraft Attitude Stabilization
	3.1 Introduction
	3.2 Problem Formulation
		3.2.1 Spacecraft Attitude Dynamics
		3.2.2 Control Objective
	3.3 Attitude Control Law Design
		3.3.1 SPD-Based Virtual/Baseline Control Law Design
		3.3.2 Null-Space-Based Optimal Control Reallocation Scheme
	3.4 Simulation Results
		3.4.1 Time Response Results Under the Proposed Control Law
		3.4.2 Energy Consumption Analysis
	3.5 Conclusions
	References
4 Robust Finite-Time Control Allocation for Attitude Stabilization Under Actuator Misalignment
	4.1 Introduction
	4.2 Problem Formulation
		4.2.1 Actuator Configuration with Misalignment
		4.2.2 Control Objective
	4.3 Control Law Design
		4.3.1 Nonsingular Terminal Sliding Mode Based Virtual Finite Time Feedback Controller Design
		4.3.2 Robust Least Squares-Based Control Allocator Design Under Actuator Misalignment
	4.4 Simulation Results
		4.4.1 Simulation Results with Misalignment
		4.4.2 Energy Consumption Analysis
	4.5 Conclusions
	References
5 Finite-Time Fault-Tolerant Spacecraft Attitude Control with Torque Saturation
	5.1 Introduction
	5.2 Problem Formulation
		5.2.1 Definitions and Lemmas
	5.3 Saturated Finite-Time Fault-Tolerant Control Law Design
		5.3.1 Novel Time-Varying Terminal Sliding Mode Design
		5.3.2 Basic Saturated Finite-Time Controller Design
		5.3.3 Saturated Fault-Tolerant Finite-Time Controller Design
		5.3.4 The Advantage of Modification Matrix A
	5.4 Simulation Results
	5.5 Conclusions
	References
6 Extended State Observer Based Optimal Attitude Robust Control of Spacecraft
	6.1 Introduction
	6.2 Problem Formulation
	6.3 Robust Optimal Attitude Controller Design
		6.3.1 Extended State Observer Design
		6.3.2 Inverse Optimal Controller Design with Uncertainties
		6.3.3 CLF and Zero Dynamics Based Optimal Controller Design
	6.4 Simulation Results
		6.4.1 Comparison and Analysis Under Different Controllers
		6.4.2 Comparisons and Analyses of Energy Consumptions Under Different Controllers
	6.5 Conclusions
	References
7 Spacecraft Attitude Fault-Tolerant Control Based on Iterative Learning Observer and Control Allocation
	7.1 Introduction
	7.2 Problem Formulation
	7.3 Iterative Learning Observer Design
	7.4 Control Strategy Design
		7.4.1 Virtual Feedback Controller Design
		7.4.2 Robust Control Allocation Design
	7.5 Simulation Results
		7.5.1 Case 1
		7.5.2 Case 2
	7.6 Conclusions
	References
8 Nonlinear Proportional-Derivative Control Incorporating Closed-Loop Control Allocation for Spacecraft
	8.1 Introduction
	8.2 Problem Formulation
	8.3 Attitude Control Law Design
		8.3.1 SPD-based Virtual/Baseline Control Law Design
		8.3.2 A Closed-Loop Control Allocation Design with Optimization Method
	8.4 Simulation Results
		8.4.1 Attitude Control without Actuator Uncertainties and Disturbances
		8.4.2 Attitude Control with Actuator Uncertainties and Disturbances
	8.5 Conclusions
	References
9 Closed-Loop Based Control Allocation for Spacecraft Attitude Stabilization with Actuator Faults
	9.1 Introduction
	9.2 Problem Formulation
		9.2.1 System Schematic Diagram
		9.2.2 Problem Formulation
	9.3 Control Scheme Design and Stability Analysis
		9.3.1 Baseline Control Law Design
		9.3.2 Online Robust Control Allocation Design
		9.3.3 Online Pseudo-Inverse Control Allocation
		9.3.4 Closed-Loop Stability with Online Control Allocation Analysis
	9.4 Simulation Results
		9.4.1 Performance with FDD Estimation Uncertainty Bound η= 5%
		9.4.2 Performance with FDD Estimation Uncertainty Bound η=33%
	9.5 Conclusions
	References
10 Conclusions
	10.1 Conclusions
	10.2 Open Problems and Challenges