In this paper, an adaptive switching control scheme for the HSV attitude systems with unknown control direction and actuator faults is designed, which is capable of solving the problem of system instability. The purpose of the adaptive switching strategy is to keep the closed loop system in negative feedback control, and thus the Nussbaum technology is applied. The crucial point is that an adaptive switching strategy is needed to keep the negative feedback control for closed loop system. To address this issue, the Nussbaum technology is applied. As for the system uncertainties and actuator fault, the adaptive estimator and radial basis neural network (RBFNN) is used for the estimation thereof. All signals of closed-loop system are bounded, which is proved by the Lyapunov theorem of stability. At last, the effectiveness of the proposed fault-tolerant scheme is proved by the the simulation results.

本文设计了一种具有未知控制方向和执行器故障的HSV姿态系统的自适应切换控制方案，能够解决系统不稳定的问题。自适应切换策略的目的是使闭环系统保持负反馈控制，因此应用了Nussbaum技术。关键点在于，需要一种自适应开关策略来保持闭环系统的负反馈控制。为了解决这个问题，应用了Nussbaum技术。对于系统不确定性和致动器故障，使用自适应估计器和径向基神经网络（RBFNN）进行估计。闭环系统的所有信号都是有界的，这由Lyapunov稳定性定理证明。最后，