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Tsinghua Science and Technology  2019, Vol. 24 Issue (06): 694-705    doi: 10.26599/TST.2018.9010094
Adaptive Prescribed Performance Control for Flexible Spacecraft with Input Saturation and Actuator Misalignment
Jiawei Tao, Tao Zhang*, Yongfang Nie
∙ Jiawei Tao and Tao Zhang are with the Department of Automation, Tsinghua University, Beijing 100084, China. E-mail:
∙ Yongfang Nie is with the Department of Strategic Missile and Underwater Weapon, Naval Submarine Academy, Qingdao 266071, China. E-mail:
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In this paper, a flexible spacecraft attitude control scheme that guarantees vibration suppression and prescribed performance on transient-state behavior is proposed. Here, parametric uncertainty, external disturbance, unmeasured elastic vibration, actuator saturation, and even configuration misalignment are considered. To guarantee prescribed performance bounds on the transient- and steady-state control errors, a performance constrained control law is formulated with an error transformed function. An elastic modal observer is employed to estimate the unmeasured flexible modal variables, and a command filter is adopted to avoid the tedious analytical computations of time derivatives of virtual control inherent in the control design. Subsequently, a novel auxiliary system is developed to compensate the adverse effects of the actuator saturation constraints, and a compensation term is integrated into the control law to tackle the configuration misalignment. A comparative simulation study is carried out to illustrate the effectiveness and advantages of the proposed approach.

Key wordsflexible spacecraft      modal observer      vibration suppression      prescribed performance      input saturation      actuator misalignment     
Received: 11 February 2018      Published: 20 June 2019
Corresponding Authors: Tao Zhang   
About author:

Tao Zhang received the BS, MS, and PhD degrees from Tsinghua University, China, in 1993, 1995, and 1999, respectively. He received the second PhD degree from Saga University, Japan, in 2002. He is currently a professor and deputy head of the Department of Automation, School of Information Science and Technology, Tsinghua University, China. He is the author or coauthor of more than 200 papers and three books. His current research includes robotics, control theory, artificial intelligent, navigation and control of spacecraft, fault diagnosis and reliability analysis, and body signal extraction and recognition.

Cite this article:

Jiawei Tao, Tao Zhang, Yongfang Nie. Adaptive Prescribed Performance Control for Flexible Spacecraft with Input Saturation and Actuator Misalignment. Tsinghua Science and Technology, 2019, 24(06): 694-705.

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Natural frequency (rad/s)Damping
Mode 11.09730.05
Mode 21.27610.06
Mode 31.65380.08
Mode 42.28930.025
Table 1 Parameters of the flexible dynamics.
Table 2 Control parameters.
𝝈𝒙 and prescribed performance bounds.">
Fig. 1 Attitude error 𝝈𝒙 and prescribed performance bounds.
𝝈𝒚 and prescribed performance bounds.">
Fig. 2 Attitude error 𝝈𝒚 and prescribed performance bounds.
𝝈z and prescribed performance bounds.">
Fig. 3 Attitude error 𝝈z and prescribed performance bounds.
Fig. 4 Vibration displacements and their estimates.
Fig. 5 Vibration estimate errors.
Fig. 6 Estimated parameters of inertia.
Fig. 7 Estimated parameters of the product of inertia.
Fig. 8 Estimated upper bound of the lumped uncertainty.
𝝉𝟏 of different methods.">
Fig. 9 Control torque 𝝉𝟏 of different methods.
𝝉𝟐 of different methods.">
Fig. 10 Control torque 𝝉𝟐 of different methods.
𝝉𝟑 of different methods.">
Fig. 11 Control torque 𝝉𝟑 of different methods.
𝝉𝟒 of different methods.">
Fig. 12 Control torque 𝝉𝟒 of different methods.
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