Quaternion-based direct adaptive fuzzy predictive control for attitude tracking of satellites

A direct adaptive fuzzy predictive control method is presented for attitude tracking of satellites with model uncertainty and external disturbances in this paper. Firstly, a nonlinear predictive control law for general mechanical systems is derived. Then, the error in predictive control law from system model uncertainties are approximated and compensated by constructed adaptive fuzzy logic systems, and stability of the closed-loop system is proved. Finally, the satellite attitude tracking error equation is formulated with quaternion and the proposed direct adaptive fuzzy control law is applied to realize desired attitude tracking. Simulation results show the satisfied control accuracy and robustness of the proposed method.