Design of a passivity-based adaptive robust control for attitude tracking of a three-axis satellite is investigated in this paper. By defining a virtual angular velocity for the satellite Kinematics and utilizing the finite time passivity features, it is proved that the developed method drives the system trajectories into the equilibrium point for various signs of the satellite quaternions. Therefore, the closer equilibrium point is always selected and the unwinding problem is resolved. A novel structure is defined for the sliding manifold that uses the selected virtual velocity. Then, a dynamic feedback controller is developed that considers uncertain parameters and faulty actuators (unknown inputs). The upper bounds of unknown inputs and unknown inertia moments are estimated by the developed adaptation mechanisms. A three degrees of freedom dumbbell style dynamic simulator has been developed to provide a rigorous evaluation of the suggested algorithms in a dynamic condition near to space. The proposed algorithms have been implemented for both reaction wheels and thrusters as actuators and the effectiveness of the introduced control methodologies was proved.

本文研究了一种基于无源性的三轴卫星姿态跟踪自适应鲁棒控制设计。通过定义卫星运动学的虚拟角速度并利用有限时间被动特性，证明了所开发的方法将系统轨迹驱动到卫星四元数的各种符号的平衡点。因此，总是选择更接近的平衡点，并解决展开问题。为使用选定虚拟速度的滑动流形定义了一种新颖的结构。然后，开发了一个动态反馈控制器，该控制器考虑了不确定的参数和有故障的执行器（未知输入）。未知输入和未知惯性矩的上限由开发的适应机制估计。已经开发了一个三自由度哑铃式动态模拟器，以在接近空间的动态条件下对建议的算法进行严格评估。所提出的算法已用于作为执行器的反作用轮和推进器，并证明了引入的控制方法的有效性。