In this paper,an adaptive fault-tolerant attitude control algorithm is designed for flexible spacecraft under model uncertainties,external disturbance,and actuator fault.The proposed control algorithm includes the nominal control part and the compensated control part.First,the nominal control algorithm is proposed to realize spacecraft attitude control in the absence of lumped uncertainties.Then,based on integral sliding mode control,an adaptive compensated control algorithm which acted as a disturbance observer,is designed to eliminate the lumped uncertainty.The main feature of the proposed control algorithm is that it is global finite time attitude control,i.e.,the assumption that angular velocity or its derivative,as well as the actuator failure or its derivative,are bounded.Simultaneously,the stability of the whole closed loop system is strictly proved by Lyapunov techniques.Finally,numerical examples are given to illustrate the efficiency of the proposed control algorithm.
维普
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