This paper proposes a novel dynamic near-optimal control allocation scheme with combination of a saturated baseline controller for spacecraft attitude control using single-gimbal control moment gyros (CMGs) and reaction wheels. First, a saturated controller is proposed to stabilize the nominal system in the presence of actuation mismatch. Aided by a state-dependent variable, a dynamic control allocator is then proposed that allows for smooth switching between two actuation sets. Unlike the previous static constraint optimization formulations, the control allocation augments its performance function with penalty terms in order to enforce individual input constraints and configuration singularity avoidance. Moreover, this dynamic control allocation is implemented with an online update law, which has a modest computational complexity compared to its numerical optimization counterpart. The closed-loop boundedness is guaranteed by a constructive Lyapunov-design method. Simulation results demonstrate that during the attitude maneuvers, the input saturation constraint and the active avoidance of CMG singularities are enforced with a relatively small computational cost.

中文翻译：

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使用混合驱动器配置的航天器姿态控制的动态近最优控制分配

本文提出了一种新颖的动态近最优控制分配方案，结合饱和基线控制器，使用单万向节控制力矩陀螺（CMG）和反作用轮进行航天器姿态控制。首先，提出了饱和控制器以在存在驱动失配的情况下稳定标称系统。在状态相关变量的帮助下，然后提出了一个动态控制分配器，允许在两个驱动组之间平滑切换。与之前的静态约束优化公式不同，控制分配通过惩罚项增强其性能函数，以强制执行单个输入约束和配置奇异性避免。此外，这种动态控制分配是通过在线更新法则实现的，与其数值优化对应物相比，它具有适度的计算复杂性。闭环有界性由构造性的李雅普诺夫设计方法保证。仿真结果表明，在姿态机动过程中，输入饱和约束和CMG奇异点的主动​​避免以相对较小的计算成本被强制执行。