通信延迟下自适应容错控制及其在航天器编队中的应用  

Adaptive fault-tolerant control with communication delays and its application in spacecraft formation

作　　者：李刚[1] 周尚波[1] 郭尚志 孟菲 LI Gang;ZHOU Shangbo;GUO Shangzhi;MENG Fei(College of Computer Science,Chongqing University,Chongqing 400044,P.R.China)

机构地区：[1]重庆大学计算机学院,重庆400044

出　　处：《重庆大学学报》2024年第4期104-113,共10页Journal of Chongqing University

基　　金：国家自然科学基金面上资助项目(62373104,62272070)。

摘　　要：为解决编队系统存在的参数模型变动范围不可预测、执行器部分失效等问题,设计提出了一种自适应鲁棒容错编队控制方法。给出航天器相对位置非线性动力学模型,设计了自适应鲁棒容错控制器,并且分别设计自适应律估计故障大小、质量和外界扰动上界,同时分析了闭环系统的Lyapunov稳定性,给出系统稳定所需要的条件。数值仿真结果表明,提出的控制方法能实现编队跟踪控制的目标,位置跟踪稳态误差小于1.5×10-3m,速度跟踪稳态误差小于1.8×10-5m,验证了所提出方法的有效性。An adaptive,robust,fault-tolerant formation control approach is proposed to address the challenges of actuator faults,parameter uncertainty,external disturbances,and communication delays within a formation system.The nonlinear dynamics model of spacecraft relative positions is presented.The adaptive robust fault-tolerant controller is designed with bounded input,and adaptive laws are developed to estimate the values of actuator faults,mass,and upper bound of external disturbances,respectively.Additionally,the Lyapunov stability of the closed-loop system is analyzed,and the necessary conditions to ensure system stability are provided.Numerical simulation results show that the presented control method enables effective formation tracking control,-3 with steady state error of location tracking is less than 1.5×10 m and steady state error of velocity tracking is less-5 than 1.8×10 m,validating the effectiveness of the proposed method.

关 键 词：编队系统 容错控制 通信延迟 稳定性 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]