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Mathematical Problems in Engineering
Volume 2014, Article ID 789327, 12 pages
Research Article

Robust Control Allocation for Spacecraft Attitude Stabilization under Actuator Faults and Uncertainty

1College of Engineering, Bohai University, Jinzhou 121013, China
2Department of Engineering, Faculty of Engineering and Science, the University of Agder, 4898 Grimstad, Norway

Received 21 November 2013; Accepted 11 December 2013; Published 13 February 2014

Academic Editor: Weichao Sun

Copyright © 2014 Aihua Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A robust control allocation scheme is developed for rigid spacecraft attitude stabilization in the presence of actuator partial loss fault, actuator failure, and actuator misalignment. First, a neural network fault detection scheme is proposed, Second, an adaptive attitude tracking strategy is employed which can realize fault tolerance control under the actuator partial loss and actuator failure within . The attitude tracking and faults detection are always here during the procedure. Once the fault occurred which could not guaranteed the attitude stable for 30 s, the robust control allocation strategy is generated automatically. The robust control allocation compensates the control effectiveness uncertainty which caused the actuator misalignment. The unknown disturbances, uncertain inertia matrix, and even actuator error with limited actuators are all considered in the controller design process. All are achieved with inexpensive online computations. Numerical results are also presented that not only highlight the closed-loop performance benefits of the control law derived here but also illustrate its great robustness.