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针对受干扰的刚体航天器冗余执行器存在故障与控制受限的姿态跟踪控制问题,提出一类基于新型指数形式的非奇异快速滑模面(ENFTSM)与趋近律的姿态容错控制器设计方法。当部分推力器发生故障时,假设剩余推力器具有输出饱和特性且能提供足够推力保证航天器执行任务,相比一般终端滑模控制器,本文设计的控制器不仅能使系统状态以更快的速度到达平衡点,且不需要在线对执行器故障信息进行检测和分离。基于Lyapunov方法证明本文设计的控制器能保证闭环系统稳定,且能有效地抑制外部干扰、控制受限和执行器故障等约束。最后对提出的控制算法进行了数值仿真,其结果表明了该控制器的有效性。
Aiming at the problems of the attitude tracking and control of the disturbed rigid-body spacecraft redundant actuators with faulty and limited control, a novel attitude fault tolerant controller design based on the new exponential form of non-singular fast sliding mode surfaces (ENFTSM) and the approach law is proposed method. When some thrusters fail, assuming that the remaining thrusters have output saturation characteristics and can provide sufficient thrust to ensure that the spacecraft performs the task, the controller designed in this paper can not only make the system state faster The speed reaches the equilibrium point without the need to detect and separate the actuator fault information online. The Lyapunov method is used to prove that the controller designed in this paper can guarantee the closed-loop system stability and effectively restrain the constraints of external disturbance, limited control and actuator failure. Finally, the proposed control algorithm is numerically simulated and the results show the effectiveness of the controller.