Prescribed Performance Attitude Stabilization of a Rigid Body Under Physical Limitations

This article investigates the prescribed performance control problem associated with attitude stabilization of a rigid body, considering angular velocity constraint, actuator faults, and input saturation. The desired performance specifications in transient and steady-state phases including convergence speed, overshoot, and steady-state value for attitude variable are also provided. To this end, the prescribed performance control methodology is combined with backstepping-based barrier Lyapunov function so as to develop a controller with simple structure compared to the existing constrained controls. The main idea behind the control design is to remove partial differential and complex function terms to considerably decrease complexity of the proposed controller. Moreover, a hyperbolic tangent function and an auxiliary system are employed to develop the constrained virtual rotation velocity control and to consider input saturation. The simulation results carried out on a rigid spacecraft confirm efficiency and success of the proposed constrained attitude control method.