ADP-Based Spacecraft Attitude Control Under Actuator Misalignment and Pointing Constraints

This article is devoted to real-time optimal attitude reorientation control of rigid spacecraft control. Particularly, two typical practical problems—actuator misalignment and forbidden pointing constraints are considered. Within the framework of adaptive dynamic programming (ADP), a novel constrained optimal attitude control scheme is proposed.In this design, a special reward function is developed to characterize the environment feedback and deal with the pointing constraints. Notably, a novel argument term is introduced to the reward function for overcoming the inevitable difficulty in the actuator misalignment. By virtue of the Lyapunov stability theory, the ultimate boundedness of state error and the optimality of the proposed method can be guaranteed. Finally, the effectiveness and performance of the developed ADP-based controller are evaluated by not only numerical simulations but also experimental tests with a hardware-in-loop platform.