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针对存在外部干扰、转动惯量矩阵不确定以及执行器故障的航天器姿态跟踪控制问题,本文提出了基于自适应快速非奇异终端滑模的有限时间收敛故障容错控制方案.通过引入能够避免奇异点,且具有有限时间收敛特性的快速非奇异终端滑模面,设计了满足多约束条件有限时间收敛的姿态跟踪容错控制律,利用参数自适应方法使控制器不依赖转动惯量和外部干扰的上界信息.Lyapunov稳定性分析表明:在存在外部干扰、转动惯量矩阵不确定以及执行器故障等约束条件下,本文设计的控制律能够保证闭环系统的快速收敛性,而且对执行器故障具有良好的容错性能.数值仿真校验了该控制律在姿态跟踪控制中的优良性能.
Aiming at the spacecraft attitude tracking control problem with external disturbance, moment of inertia matrix uncertainty and actuator failure, this paper presents a finite time-convergent fault tolerant control scheme based on adaptive fast non-singular terminal sliding mode.Through the introduction of the algorithm that can avoid singular points, And a finite non-singular terminal sliding mode surface with finite time convergence is proposed. The attitude tracking fault tolerant control law is designed to satisfy the limited time convergence under multiple constraints. The parameter adaptive method is used to make the controller independent of upper bound information of moment of inertia and external disturbance The Lyapunov stability analysis shows that the control law designed in this paper can guarantee the fast convergence of the closed-loop system in the presence of external disturbances, uncertain moment of inertia matrices and actuator failures, and has good fault tolerance for actuator faults The numerical simulation verifies the excellent performance of this control law in attitude tracking control.