Spacecraft chaotic attitude control with certain actuator failure based on integral sliding mode

This paper investigates the control problem of spacecraft chaotic attitude motion with certain actuator failure and control input constraint. First, the spacecraft chaotic attitude system is written in a nonlinear equation form of three inputs. When the failure of one actuator or failures of two actuators exist, it can be transformed into a nonlinear equation form of double input or single input, respectively. To satisfy task-requirement, trajectory planning is performed in advance, and the dynamics equation of angular velocity error can be obtained. Then, integral sliding mode ideas are incorporated into the controller, which consists of equivalent control term and switching control term. Finally, simulations are performed to assess the performance of the proposed controller. The simulation results indicate that the controller has the following characteristics: (a) elimination of chaotic attitude motion, (b) explicit consideration of control input constraint, (c) presupposition of attitude stabilization time, (d) track reference angular velocity trajectory designed in advance, (e) consideration of certain actuator failure, and (f) robustness to bigger external disturbance torque.