Adaptive Terminal Sliding Mode Fault-Tolerant Control of Spacecraft Based on the Left Attitude Error Function of SO(3)

Table 3

Nomenclature.

Name	Implication
	The differential manifold
	The attitude
	Identity matrix
	The angular velocity
	The rotational moment of inertia
	The total control torque
	An unknown random disturbance
	The desired attitude
	The left error function
	The right error function
	The error function
	The error parametrization
	The attitude error vector
	The desired angular velocity
	The angular velocity error vector
	The sliding mode surface
	The controller parameter
	The controller parameter
	The controller parameter
	A constant
	The control input in the event of a multiplicative fault
	The failure factor
	The sliding mode surface
	Reciprocal of
	Adaptive rate parameter
	The estimated value of the actual value
	A constant greater than 0
	The error between and
	Time of failure