Spacecraft control is critical for mission success, especially when facing both unpredictable external disturbances, including gravity torques, solar radiation, and aerodynamic drag, and internal challenges such as uncertain inertia and actuator faults. In this study, a dynamic spacecraft attitude control is presented that incorporates both kinematic and dynamic aspects. To handle real-world complexities, a fast terminal sliding mode backstepping integral adaptive controller with fuzzy logic and super-twisting disturbance observer is proposed. Additionally, the proposed adaptive mechanism estimates and compensates for disturbances and variations in the control loop. The system employs a quaternion-based error formulation to effectively respond to angular deviations while avoiding singularities. The finite-time sliding mode controller guarantees rapid attitude error correction, even under bounded external disturbances. Furthermore, an adaptive compensation mechanism continuously estimates and mitigates system variations. Simulation results demonstrate the proposed method performs with high precision and reliability, which leads to a significant advancement in attitude control techniques for complex and demanding space missions.
AliMWuTHuH, et al. (2025) A review of the segment anything model (Sam) for medical image analysis: accomplishments and perspectives. Computerized Medical Imaging and Graphics119: 102473. https://doi.org/10.1016/j.compmedimag.2024.102473
2.
AmrrSM (2025) Event-triggered nonsingular fast terminal sliding mode control for attitude synchronization of multiple spacecraft. Journal of Vibration and Control0(0): 10775463251352284. https://doi.org/10.1177/10775463251352284
3.
DingYDugganSFerrantiM, et al. (2020a) Probabilistic assessment of the failure risk of the europa clipper spacecraft due to radiations. Risk Analysis40(4): 842–857. Available at: https://doi.org/10.1111/risa.13439
4.
DingYDugganSFerrantiM, et al. (2020b) Probabilistic assessment of the failure risk of the europa clipper spacecraft due to radiations. Risk Analysis40(4): 842–857. https://doi.org/10.1111/risa.13439
5.
ElikerKZhangW (2020) Finite-time adaptive integral backstepping fast terminal sliding mode control application on quadrotor UAV. International Journal of Control, Automation, and Systems18(2): 415–430. https://doi.org/10.1007/s12555-019-0116-3
6.
FazlyabARFani SaberiFKabganianM (2023) Fault-tolerant attitude control of the satellite in the presence of simultaneous actuator and sensor faults. Scientific Reports13(1): 20802. https://doi.org/10.1038/s41598-023-48243-w
7.
FlechtnerFReigberCRummelR, et al. (2021) Satellite gravimetry: a review of its realization. Surveys in Geophysics42(5): 1029–1074. https://doi.org/10.1007/s10712-021-09658-0
8.
GhadiriHMontazeriA (2022) Adaptive integral terminal sliding mode control for the nonlinear active vehicle suspension system under external disturbances and uncertainties. IFAC-PapersOnLine55(10): 2665–2670. https://doi.org/10.1016/j.ifacol.2022.10.112
9.
GhadiriHKhodadadiHEijeiH, et al. (2021a) Pso based takagi-sugeno fuzzy pid controller design for speed control of permanent magnet synchronous motor. Facta Universitatis – Series: Electronics and Energetics34(2): 203–217. https://doi.org/10.2298/fuee2102203g
10.
GhadiriHKhodadadiHMobayenS, et al. (2021b) Observer-based robust control method for switched neutral systems in the presence of interval time-varying delays9(19): 2473. https://doi.org/10.3390/math9192473
11.
GhadiriHMohammadiAKhodadadiH (2022) Fast terminal sliding mode control based on SDRE observer for two-axis gimbal with external disturbances. Journal of the Brazilian Society of Mechanical Sciences and Engineering44(2): 70. https://doi.org/10.1007/s40430-022-03369-2
12.
GhadiriHKhodadadiHHazarehGA (2024) Finite-time integral fast terminal sliding mode control for uncertain quadrotor UAV based on state-dependent riccati equation observer subjected to disturbances. Journal of Vibration and Control30(11–12): 2528–2548. https://doi.org/10.1177/10775463231179770
13.
GuoYSongS-MLiX-H (2018) Backstepping sliding mode control for formation flying spacecraft. Aircraft Engineering & Aerospace Technology90(1): 56–64. https://doi.org/10.1108/aeat-08-2014-0129
14.
HeidarpoorSTabatabaeiMKhodadadiH (2017) Speed control of a DC motor using a fractional order sliding mode controller In: 2017 IEEE International Conference on Environment and Electrical Engineering and 2017 IEEE Industrial and Commercial Power Systems Europe (EEEIC/I&CPS Europe), pp. 1–4. IEEE.
15.
JavaidUZhenZShahidS, et al. (2024) Output feedback attitude control of flexible spacecraft under actuator misalignment and input nonlinearities. Journal of Vibration and Control30(7–8): 1783–1801. https://doi.org/10.1177/10775463231171386
16.
KaramiHNguyenNPGhadiriH, et al. (2023) LMI-based luenberger observer design for uncertain nonlinear systems with external disturbances and time-delays. IEEE Access11: 71823–71839. https://doi.org/10.1109/access.2023.3293493
17.
KashiMGhadiriH (2024) Robust nonlinear control for quadrotor slung load system subject to external disturbances. In: 2024 10th International Conference on Artificial Intelligence and Robotics (QICAR). IEEE, 68–73.
18.
KashiMHazarehGAGhadiriH (2025) Finite-time adaptive robust nonlinear control for uncertain quadrotor UAV carrying a load under external disturbances. Journal of Vibration and Control10775463251346070. Available at: https://doi.org/10.1177/10775463251346070
19.
KhanSATaoZFahadS, et al. (2024) Reliable attitude control integrating reaction wheels and embedded asymmetric magnetorquers for detumbling CubeSats. Advances in Space Research74(11): 5906–5922. https://doi.org/10.1016/j.asr.2024.08.056
20.
KhodadadiHGhadiriH (2019) Fuzzy Logic Self-Tuning PID Controller Design for Ball Mill GrindingCircuits Using an Improved Disturbance Observer. Mining, Metallurgy & Exploration36: 1075–1090. Available at: https://doi.org/10.1007/s42461-019-0098-y
21.
LiY-RPengC-C (2021) Super‐twisting sliding mode control law design for attitude tracking task of a spacecraft via reaction wheels. Mathematical Problems in Engineering2021(1): 6644033. https://doi.org/10.1155/2021/6644033
22.
LiCTeoKLLiB, et al. (2012) A constrained optimal PID-like controller design for spacecraft attitude stabilization. Acta Astronautica74: 131–140. https://doi.org/10.1016/j.actaastro.2011.12.021
23.
LiaoHXuYZhuZ, et al. (2019) A new design of drag-free and attitude control based on non-contact satellite. ISA Transactions88: 62–72. https://doi.org/10.1016/j.isatra.2018.11.049
24.
MaBLiPWangY (2022) Observer-based event-triggered type-2 fuzzy control for uncertain steer-by-wire systems. ISA Transactions122: 472–485. https://doi.org/10.1016/j.isatra.2021.04.039
25.
MaZWangYYangY, et al. (2016) Reinforcement learning-based satellite attitude stabilization method for non-cooperative target capturing. Sensors18(12): 284–289.
26.
PanXWeiZLiuS, et al. (2025) Integral sliding mode-based control for the on-orbit assembly of multiple flexible spacecraft. Nonlinear Dynamics113: 1–24. https://doi.org/10.1007/s11071-025-11470-z
27.
PangYYaoLLuoY, et al. (2024) RepSViT: an efficient vision transformer based on spiking neural networks for object recognition in satellite on-orbit remote sensing images. IEEE Transactions on Geoscience and Remote Sensing62: 1–16. https://doi.org/10.1109/tgrs.2024.3367709
28.
Porras-HermosoAAlfonso-CorcueraDPiquerasJ, et al. (2021) Design, ground testing and on-orbit performance of a sun sensor based on cots photodiodes for the upmsat-2 satellite. Sensors21(14): 4905. https://doi.org/10.3390/s21144905
29.
QuYZhangBChuH, et al. (2023) Sliding-mode anti-disturbance speed control of permanent magnet synchronous motor based on an advanced reaching law. ISA Transactions139: 436–447. https://doi.org/10.1016/j.isatra.2023.04.016
30.
RezaeiEBolandiHFathiM (2024) Designing a fixed-time observer-based adaptive non-singular sliding mode controller for flexible spacecraft. ISA Transactions148: 32–44. https://doi.org/10.1016/j.isatra.2024.03.025
31.
ShahidFLuoHJiangY, et al. (2025) Finite-time adaptive sliding mode fault-tolerant attitude control for flexible spacecraft. IEEE Transactions on Control Systems Technology.
32.
SteffenRInceESGhomsiFEK, et al. (2025) Satellite gravimetry for geophysical purposes. Remote Sensing for Geophysicists3–20.
33.
VanMGeSS (2021) Adaptive fuzzy integral sliding-mode control for robust fault-tolerant control of robot manipulators with disturbance observer. IEEE Transactions on Fuzzy Systems29(5): 1284–1296. https://doi.org/10.1109/tfuzz.2020.2973955
34.
WangQRanMDongC (2016) Robust partial integrated guidance and control for missiles via extended state observer. ISA Transactions65: 27–36. https://doi.org/10.1016/j.isatra.2016.08.017
35.
WangDWuYYueC, et al. (2025) Fully actuated system-based active disturbance rejection saturated attitude control for flexible spacecraft. Journal of the Franklin Institute362(6): 107613. https://doi.org/10.1016/j.jfranklin.2025.107613
36.
YaghoubiZElmiMAdeliM (2025) Robust adaptive synchronization of the chaotic fractional‐order satellite system subject to uncertainties and unknown inputs. IET Control Theory & Applications19(1): e12763. https://doi.org/10.1049/cth2.12763
37.
YangSWangZDávilaJ, et al. (2025a) Satellite sun‐safe controller design based on super‐twisting disturbance observer with interval analysis. International Journal of Robust and Nonlinear Control35(5): 1776–1791. https://doi.org/10.1002/rnc.7755
38.
YangZKouJLiZ, et al. (2025b) Observer-based adaptive neural network force tracking control for pneumatic polishing system end-effector with actuator saturation. Neurocomputing633: 129824. https://doi.org/10.1016/j.neucom.2025.129824
39.
YangZKouJLiZ, et al. (2025c) Neural network adaptive force control for pneumatic polishing end-actuator with external disturbances and full-state constrains. Engineering Applications of Artificial Intelligence160: 111876. https://doi.org/10.1016/j.engappai.2025.111876
40.
YangZZhaoWKouJ, et al. (2025d) Observer-based fuzzy adaptive dynamic surface force control for pneumatic polishing system end-effector with uncertain contact environment model. IEEE Transactions on Automation Science and Engineering22: 17898–17913. https://doi.org/10.1109/tase.2025.3585136
41.
YinSXiaoBDingSX, et al. (2016) A review on recent development of spacecraft attitude fault tolerant control system. IEEE Transactions on Industrial Electronics63(5): 3311–3320. https://doi.org/10.1109/tie.2016.2530789
42.
ZhouLLiZYangH, et al. (2025) Adaptive terminal sliding mode control for high-speed EMU: a MIMO data-driven approach. IEEE Transactions on Automation Science and Engineering22: 1970–1983. https://doi.org/10.1109/tase.2024.3373037
