Hybrid controller for global, robust, attitude stabilization of a magnetically actuated spacecraft

A novel approach to the three-axis attitude control of a magnetically actuated spacecraft is proposed, based on hybrid systems theory. Due to the actuators type, the system model is instantaneously underactuated and time-varying, so that low pointing errors and robustness are difficult to achieve at the same time. In this work, a uniting control design is developed, which combines a local H-inf regulator, with guaranteed performance, and a global nonlinear controller for ensuring global stability and robustness. Hybrid control theory is employed to develop a mixed continuous-discrete controller able to switch between different feedbacks. Controllers’ domains are designed according to appropriate input–output functions and to the magnitude of disturbances affecting the system. As a result, global attitude stability is ensured, while achieving local optimality and robustness against bounded disturbances, both matched and unmatched by the control action, and measurement noise. Analytical results are verified by means of realistic numerical simulations: the state errors comply with the computed bounds and stability is guaranteed for conservative assumptions on the magnitude of the unmatched disturbances.