基于积分滑模的航天器有限时间姿态容错控制  

Integral-type sliding mode finite-time fault tolerant control for spacecraft attitude control

作　　者：马广富[1] 于彦波 李波 胡庆雷[3] MA Guang-fu;YU Yan-bo;LI Bo;HU Qing-lei(School of Astronautics, Harbin Insitute of Technology, Harbin Heilongjiang 150001, China;Institute of Logistics Science & Engineering, Shanghai Maritime University, Shanghai 201306, China;School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

机构地区：[1]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [2]上海海事大学物流科学与工程研究院,上海201306 [3]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《控制理论与应用》2017年第8期1028-1034,共7页Control Theory & Applications

基　　金：国家自然科学基金项目(61522301;61633003;61540045);上海市科学技术委员会项目(17595810300;14170501500;14DZ2280200)资助~~

摘　　要：针对存在执行机构故障和外部干扰的刚体航天器姿态稳定系统,本文提出了基于积分滑模的容错控制策略,实现了姿态有限时间稳定.首先,利用齐次系统相关理论,设计了一类饱和有界的基础控制律,保证了不存在执行机构故障和干扰情况下的姿态有限时间稳定.在此基础上,利用积分滑模和自适应技术设计了一种有限时间姿态鲁棒容错控制方案,对执行机构故障和干扰进行有效的补偿;该方案能够快速地实现姿态高精度稳定,并抑制系统抖振现象.最后,将本文提出的姿态容错控制方案进行数值仿真与对比,验证了方案的有效性与优越性.This paper addresses the problem of integral-type sliding mode robust fault tolerant control for spacecraft,in the presence of actuator failures and external disturbances simultaneously,achieving the finite-time attitude stabilization.As a stepping stone,a simple saturated nominal controller is firstly designed using homogeneous system theory,to ensure finite-time attitude stabilization of spacecraft without failures and disturbances.Then,utilizing integral-type sliding mode and adaptive techniques,a novel finite-time robust fault tolerant control strategy is developed to compensate for actuators failures and external disturbances.And also,the chattering problem has been restrained via a gain adjusting law.Finally,numerical simulation results are presented to illustrate and highlight the fine performance benefits obtained using the proposed scheme,especially for the faster and higher-precise attitude stabilization.

关 键 词：积分滑模 航天器 有限时间 姿态控制 容错控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]