Active underactuation fault-tolerant backstepping attitude tracking control of a satellite with interval error constraints

Abstract

Underactuation poses a significant challenge to space mission control and performance. This article investigates the non-linear attitude tracking control problem for a remote sensing satellite underactuated by a reaction wheel (RW) actuator fault. First, a timeline close to the in-orbit reality of an underactuation fault is presented. Then, the fault detection and diagnosis strategy is performed in a finite-time decision window. The failed actuator is excluded from the control loop by forming the proposed reconfiguration window to transition from a 3 RWs configuration to 2 RWs. The underactuation fault-tolerant control is designed according to the active method, where the adaptive robust control law employed for fault-free conditions is switched to the underactuated attitude tracking control (UATC). The structure of UATC is based on kinematic and adaptive backstepping dynamic controllers. The effect of unknown bounded external disturbances is considered with an adaptive estimation term. The asymptotic stability of the closed-loop control system is proved via Lyapunov theory in the presence of parametric uncertainty. Due to the underactuation, a new approach proposed in the prescribed performance function is interval error constraints, which include the pointing accuracy and stability requirements in imaging time intervals. Finally, the results of the multidisciplinary simulation and experimental test confirm the applicability of the underactuation fault-tolerant control.