This work presents an integrated approach for attitude tracking control and fault-tolerant control allocation of overactuated spacecraft, where the high-level controller addresses stochastic input disturbances, and the low-level control allocation manages actuator faults and uncertainties in fault estimation. The proposed stochastic attitude tracking controller, developed through the backstepping method, ensures asymptotic stability in probability. A stochastic control Lyapunov-function-based quadratic program is utilized to limit the high-level control input within the bounds of actuator torque limits. To account for inaccuracies in actuator fault estimation, the stochastic fault-tolerant control allocation is framed as a probabilistic optimization problem. To resolve this, we propose a novel approach to transform the probabilistic constraints into deterministic equivalents, reformulating the problem into a quadratically constrained quadratic programming framework. The effectiveness and performance of the proposed framework are demonstrated through comprehensive numerical simulations and comparisons with existing methods.
Hou et al. (Thu,) studied this question.