Research and Experiment on Dynamic Weight Pseudo-Inverse Control Allocation for Spacecraft Attitude Control System

This paper presents a control and allocation method to avoid the angular momentum and torque saturation of the reaction wheels. Due to the reaction wheels are hard to provide the acceleration torque at the maximum rotational speed, a novel dynamic weight pseudo-inverse allocation method based on the rotational speed of the reaction wheels is proposed here. Moreover, the proposed method is also able to reduce power usage by preventing the sustained high speed. To handle the torque saturation, a geometric saturated control law is proposed, and the system's asymptotical stability is proof by Lyapunov analysis. Numerical simulations and hardware-in-loop experiments validation are conducted to illustrate the effectiveness of the proposed method.