Energy-Conserving Fault-Tolerant Event-Based Attitude Control for Multiple Rigid Bodies

This article addresses the multi-rigid-body fault-tolerant attitude control issue under energy constraints and actuator faults. The constant control inputs of event-triggered controllers cause the control system to consume too much energy, which leads to a shorter life of the formation system. An energy-saving trigger function is designed to save energy by resetting the control input to the zero vector when the formation error is small. Additionally, an energy-conserving fault-tolerant event-driven attitude controller is designed to accomplish the formation control mission with low energy consumption. Furthermore, a dynamic energy-conserving fault-tolerant event-triggered algorithm is designed, where a positive dynamic parameter is developed to reduce the triggering frequency. In contrast to the existing event-triggered algorithms, the proposed energy-conserving algorithm has the advantage of lightening the data transmission and energy consumption. The developed energy-conserving event-triggered controller is validated through simulations.