Attitude Takeover Control Using Cooperative Game Considering Time-Varying Angular Momentum

This article focuses on the failed spacecraft attitude takeover control problem by multiple micro-satellites. To tackle this problem, a wheel-level cooperative game considering time-varying angular momentum is proposed. First, the concept of the angular momentum margin factor is introduced to design an objective function for each reaction wheel, allowing torque output to vary according to each wheel's angular momentum level. Additionally, a cooperative game model is developed based on the dynamics constraints of the combined system. Furthermore, a particle swarm optimization-critic neural network is employed to find the Pareto optimal strategy for the cooperative game. Finally, Simulation results demonstrate that the proposed method can directly provide control moments for each reaction wheel based on the angular momentum margin without requiring control assignment. Compared to existing cooperative game control methods, this approach significantly reduces peak angular momentum, thereby enhancing control safety.