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针对存在外部干扰、转动惯量矩阵不确定、控制器饱和以及执行器故障的航天器姿态跟踪控制问题,提出了基于自适应快速非奇异终端滑模的有限时间收敛控制方案。通过引入能够避免奇异点的具有有限时间收敛特性的快速非奇异终端滑模面,设计了满足多约束的有限时间姿态跟踪容错控制器,并利用参数自适应方法使控制器设计不依赖于系统惯量信息和外部干扰的上界。此外,所设计的控制器显式考虑了执行器输出力矩的饱和幅值特性,使航天器在饱和幅值的限制下完成姿态跟踪控制任务,并且无须进行在线故障估计。Lyapunov稳定性分析表明:在外部干扰、转动惯量矩阵不确定、控制器饱和以及执行器故障等约束条件下,所设计的控制器能够保证闭环系统的快速收敛性,而且对控制器饱和与执行器故障具有良好的容错性能。数值仿真校验了该控制器在姿态跟踪控制中的优良性能。
Aiming at the spacecraft attitude tracking control with external disturbance, moment of inertia matrix uncertainty, controller saturation and actuator failure, a finite-time convergence control scheme based on adaptive fast non-singular terminal sliding mode is proposed. By introducing a fast non-singular terminal slip surface that can avoid singularities and has finite time convergence, a finite-time pose-tracking fault tolerant controller with multiple constraints is designed and the controller is designed to be independent of system inertia Upper bounds of information and external disturbances. In addition, the designed controller explicitly takes into account the saturation amplitude characteristics of the actuator output torque so that the spacecraft performs the attitude tracking control task under the limitation of the saturation amplitude, and does not need online fault estimation. Lyapunov stability analysis shows that under the constraints of external disturbance, moment of inertia matrix, controller saturation and actuator failure, the designed controller can guarantee the fast convergence of the closed-loop system, and the controller saturation and the actuator Fault has good fault tolerance. Numerical simulation verifies the controller’s excellent performance in attitude tracking control.