考虑执行机构故障的运载火箭自适应滑模容错控制  

Adaptive Sliding-mode Control of Launch Vehicle with Actuator Failures

作　　者：王培生 屈东扬 冉茂鹏[2,3] 董朝阳 WANG Peisheng;QU Dongyang;RAN Maopeng;DONG Chaoyang(School of Aeronautic Science and Engineering,Beihang University,Beijing 100191,China;School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China;Zhongguancun Laboratory,Beijing 100094,China)

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100191 [2]北京航空航天大学自动化科学与电气工程学院,北京100191 [3]中关村实验室,北京100094

出　　处：《宇航学报》2023年第8期1160-1170,共11页Journal of Astronautics

基　　金：国家自然科学基金(61833016);中央高校基本科研业务费专项资金资助。

摘　　要：针对执行机构故障下的运载火箭姿态指令跟踪问题,在考虑内部未建模动态、外部不确定干扰等因素的影响下,设计了一种基于新型扩张状态观测器(ESO)的自适应滑模容错控制器。首先,基于一种新型级联降阶扩张状态观测器,对系统的未建模动态、外部干扰等不确定性进行估计。在此基础上,结合滑模控制理论,设计了一种固定时间收敛的自适应滑模控制律,能够获得观测器干扰估计误差的上界信息,同时消除滑模控制的抖振现象。通过李雅普诺夫方法证明了闭环系统的稳定性。仿真结果表明,所提出的基于新型扩张状态观测器的自适应滑模容错控制器在执行机构故障情况下仍具有较好的跟踪性能和抗扰能力。Aiming at the attitude command tracking control problem of launch vehicle with actuator failures,an adaptive sliding mode fault-tolerant controller based on a novel extended state observer(ESO)is designed,considering the effects of internal unmodeled dynamics and external uncertain disturbances.Firstly,a new cascaded reduced-order ESO is presented to estimate the unmodeled dynamics and external uncertain disturbances of the system.Based on this,an adaptive sliding mode control law with fixed time convergence is designed,which can obtain the upper bound information of the disturbance estimation error and eliminate the chattering phenomenon of sliding mode control.The stability of the closed-loop system is proved by the Lyapunov method.The simulation results show that the proposed adaptive sliding mode fault-tolerant controller based on the new ESO has good tracking performance and disturbance immunity in the case of actuator failures.

关 键 词：运载火箭 执行器故障 滑模控制 容错控制 扩张状态观测器(ESO) 

分 类 号：V249[航空宇航科学与技术—飞行器设计]