Double-level prescribed performance control for rigid spacecraft attitude tracking under actuator faults

The problem of prescribed performance attitude tracking control for rigid spacecraft with external disturbance, inertia uncertainties and actuator faults on special orthogonal group SO(3) is investigated in this paper. With the aid of a novel Lyapunov function, a double-level prescribed performance controller is devised to ensure both attitude and angular velocity tracking errors converge within preset performance boundaries. By applying the suggested controller, the setting time, overshoot and steady-state error of both attitude and angular velocity tracking errors can be regulated by preset performance boundaries getting rid of the initial conditions of the control system. Distinguished from the exist prescribed performance controllers, a stricter performance boundary for angular velocity tracking error can be achieved. For the lumped disturbance which stems from the unknown external disturbance, inertia uncertainties and actuator faults, an extended state observer with linear feedback functions is initially designed to provide an estimation with simple structure. Rigorous proofs within a Lyapunov framework and comparison simulations are presented to demonstrate the effectiveness and superiority of the suggested control strategy.