Research on attitude fault tolerant control method for space tethered robot

Attitude control instability occurs for reaction wheel failure in the phase of accurate attitude control of a space tethered robot. In order to solve this problem, a new attitude tolerant control method is proposed in the paper. A time-delay control algorithm is utilized to introduced previous one-step control information into the current control law, and the current changed control information is estimated and compensated. The stability of the tolerant control law is proved, and the time-delay control algorithm is compared with conventional proportional-derivative control algorithm from two cases of reaction wheel with failure and without failure. The simulation results show that the time-delay control method have high accuracy and robustness of tracking target attitude, and have high stability for controlling attitude of space tethered robot when a reaction wheel failure occurs.