Attitude balance control of cube with actuator saturation

The principal objective of this project was to solve the problem of the controlling attitude balance for the cube to achieve actuator saturation. For the past three decades, studies of attitude balance for the cube have ignored the impact of actuator constraint. Firstly, a novel non-linear saturation function is constructed that has the characteristics of being continuous and smooth. Secondly, based on the proposed saturation function, a non-linear proportional-derivative (PD) saturated control (NPDSC) is developed to tackle the attitude balance problem for cube formulated by Lagrange equation. It is proven that the designed NPDSC can assure that the system of cube is globally asymptotically stabilized. The control method offers the benefits of a straightforward and concise format, efficient calculations, and the absence of any specific numerical value associated with the system. Another feature is that the proposed regulation guarantees the output of the output generator is maintained within the rated range, so it completely avoids instability and degradation or unimaginable movement of the system, avoiding excessive output due to overheating or structural failure. The proposed control method actually provides an efficient solution for cube systems with output saturation. The simulation results provide evidence of the feasibility of this approach.