Dynamic control allocation based-on robust adaptive backstepping control for attitude maneuver of spacecraft with redundant reaction wheels

The reaction wheels (RWs) play an important role in conducting spacecraft attitude control commands, and redundant RWs are dominantly configurated for spacecraft missions to ensure the pointing accuracy and reliability. In this work, firstly, for the rigid spacecraft with uncertain inertia matrix and bounded disturbances, a robust adaptive controller based-on backstepping is proposed to achieve the high pointing accuracy, and the Lyapunov functions are introduced to analyze the stability of the closed-loop system. In addition, a dynamic control allocation scheme based-on constrained quadratic programming for energy optimal is implemented to redistribute the control command of the overactuated system. In this way, the unexpected signals and noise can be removed. Finally, the schemes proposed are applied to a attitude maneuver mission of rigid spacecraft with redundant RWs, and the numerical simulation results verify the effectiveness and feasibility of the proposed control schemes.