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Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

The attitude tracking of a rigid spacecraft is approached in the presence of uncertain inertias, unknown disturbances, and sudden actuator faults. First, a novel integral terminal sliding mode (ITSM) is designed such that the sliding motion realizes the action of a quaternion‐based nonlinear proportional‐derivative controller. More precisely, on the ITSM, the attitude dynamics behave equivalently to an uncertainty‐free system, and finite‐time convergence of the tracking error is achieved almost globally. A basic ITSM controller is then designed to ensure the ITSM from onset when an upper bound on the system uncertainties is known. Further, to remove this requirement, adaptive techniques are employed to compensate for the uncertainties, and the resultant adaptive ITSM controller stabilizes the system states to a small neighborhood around the sliding surface in finite time. The proposed schemes avoid the singularity intrinsic to terminal sliding mode‐based controllers and the unwinding phenomenon associated with some quaternion‐based controllers. Numerical examples demonstrate the advantageous features of the proposed algorithm. Copyright © 2017 John Wiley & Sons, Ltd.