In this paper, the attitude tracking control of spacecraft has been investigated by taking into account the input saturation constraint and an oscillatory dynamic model for the actuators. A dual-mode control scheme is presented, which has a low computational cost. The command signals are calculated by defining power reaching laws and reference filtering method. For this purpose, a new projection operator is used to determine the best possible references based on system and actuator dynamics and saturation constraints. The Lyapunov stability of the closed-loop system as well as the convergence of the filtered references to the desired references were analyzed. The dual-mode-based command signals have been determined based on minimizing the one-step predictive attitude error by combining the two controllers. The efficacy of the algorithm for tracking control has been demonstrated through numerical simulations.
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