Safety-Critical Attitude Tracking of Spacecraft With Data-Based Parameter Identification

• Published in: IEEE transactions on aerospace and electronic systems Vol. 61; no. 2; pp. 1353 - 1362
• Main Authors: Xia, Kewei, Wang, Jianan, Liu, Fuxiang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2025; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Angular velocity; Attitude control; Closed loops; Constraints; Control barrier function (CBF); Feedback control; Iron; Logic programming; Parameter identification; Quadratic programming; Quaternions; Safety critical; Simulation; Space vehicles; Spacecraft attitude control; spacecraft attitude tracking; Spacecraft tracking; state constraints; Torque; Tracking control; unwinding avoidance; Vectors
• ISSN: 0018-9251; 1557-9603
• DOI: 10.1109/TAES.2024.3458934

This article proposes a safety-critical control strategy for the attitude tracking issue of a rigid spacecraft subject to orientation and angular velocity constraints. To compensate for the unknown inertial matrix parameters, an online identification algorithm with a data-based selection criteria is first designed, which shows that the estimate error is exponentially convergence if a finite excitation condition is satisfied. Then, by introducing the identified parameters, an adaptive hybrid attitude tracking control torque is developed, where a binary logic switch framework is employed to avoid the unwinding phenomenon. For the sake of safety-critical tracking subject to state constraints, a control barrier function quadratic programming optimization is developed, where the nonconvex orientation constraints are losslessly replaced by convex quadratic ones. The uniform asymptotic stability of the closed-loop system is proved, and the preassigned safety sets are forward invariant with the largest safe region. Simulation results validate and access the proposed control strategy.