A dynamic control allocation approach is presented to address the attitude stabilization problem of a rigid spacecraft. The approach is developed by using a least-square support vector machine. Actuator uncertainty including misalignment and magnitude deviation is explicitly addressed. A dynamic inverse control law is firstly designed. A least-square support vector machine-based adaptive compensator is then designed to handle actuators uncertainties, external disturbances and unknown moment of inertia. Lyapunov stability analysis shows that the closed-loop attitude system is asymptotically stable. More specifically, constrained quadratic programming-based robust dynamic control allocation is implemented to manage the redundancy actuators. The goal of minimizing the assumption of total energy is achieved. A numerical example is provided to demonstrate the effectiveness of the proposed scheme.
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