*Article* **An Adaptive Neuro-Fuzzy Model for Attitude Estimation and Control of a 3 DOF System**

**Xin Wang 1,\*, Seyed Mehdi Abtahi <sup>2</sup> , Mahmood Chahari <sup>3</sup> and Tianyu Zhao 4,\***


**Abstract:** In recent decades, one of the scientists' main concerns has been to improve the accuracy of satellite attitude, regardless of the expense. The obvious result is that a large number of control strategies have been used to address this problem. In this study, an adaptive neuro-fuzzy integrated system (ANFIS) for satellite attitude estimation and control was developed. The controller was trained with the data provided by an optimal controller. Furthermore, a pulse modulator was used to generate the right ON/OFF commands of the thruster actuator. To evaluate the performance of the proposed controller in closed-loop simulation, an ANFIS observer was also used to estimate the attitude and angular velocities of the satellite using magnetometer, sun sensor, and data gyro data. However, a new ANFIS system was proposed that can jointly control and estimate the system attitude. The performance of the proposed controller was compared to the optimal PID controller in a Monte Carlo simulation with different initial conditions, disturbance, and noise. The results show that the proposed controller can surpass the optimal PID controller in several aspects including time and smoothness. In addition, the ANFIS estimator was examined and the results demonstrate the high ability of this designated observer. Consequently, evaluating the performance of PID and the proposed controller revealed that the proposed controller consumed less control effort for satellite attitude estimation under noise and uncertainty.

**Keywords:** integrated control and estimation; adaptive neuro fuzzy; noise; uncertainty

**MSC:** 93C42
