Robust Control Allocation among Overactuated Spacecraft Thrusters under Ellipsoidal Uncertainty

Table 2

The simulation result when the control efficiency matrix is with the uncertainty of 10%.

	The cumulative error of torque (N/m)			The maximum distribution deviation of torque (N/m)
	𝑥-axis	𝑦-axis	𝑧-axis	𝑥-axis	𝑦-axis	𝑧-axis
Pseudoinverse thruster allocation	0.2568	0.1871	0.2222	0.0140	0.0102	0.0121
Robust thruster allocation	0.1185	0.0864	0.1901	0.0109	0.0079	0.0116