柔性航天器全局有限时间姿态容错控制  

Global finite time attitude fault-tolerant control of flexible spacecraft

作　　者：朱婉婉 杨玉凯 宗群 ZHU Wan-wan;YANG Yu-kai;ZONG Qun(School of Information and Control Engineering,China University of Mining and Technology,Xuzhou Jiangsu 221116,China;Engineering Research Center of Intelligent Control for Underground Space,Ministry of Education,China University of Mining and Technology,Xuzhou Jiangsu 221116,China;Beijing Institute of Precision Mechatronics and Controls,Beijing 100076,China;Laboratory of Aerospace Servo Actuation and Transmission,Beijing 100076,China;School of Electrical and Information Engineering,Tianjin University,Tianjin 300072,China)

机构地区：[1]中国矿业大学信息与控制工程学院,江苏徐州221116 [2]中国矿业大学地下空间智能控制教育部工程研究中心,江苏徐州221116 [3]北京精密机电控制设备研究所,北京100076 [4]航天伺服驱动与传动技术实验室,北京100076 [5]天津大学电气自动化与信息工程学院,天津300072

出　　处：《控制理论与应用》2025年第1期202-208,共7页Control Theory & Applications

基　　金：国家自然科学基金项目(62203445,62003236,62073234,62022060);中央高校基本科研业务费项目(2022QN1056)资助.

摘　　要：本文针对在模型不确定性、外界干扰与执行器故障影响下柔性航天器姿态控制问题,设计一种自适应容错控制算法,该算法包括标称控制部分和补偿控制部分.首先,标称控制部分用于实现不考虑综合不确定影响下航天器有限时间姿态控制;其次,补偿控制部分基于积分滑模理论进行设计,该补偿控制器通过对综合不确定有效估计,在控制器中作补偿,减少对姿态控制精度的影响,提高航天器姿态控制精度.该算法特点在于可实现柔性航天器全局有限时间姿态控制,放宽角速度或其导数、执行器故障或其导数有界的假设.同时,基于Lyapunov函数严格证明整个闭环系统的稳定性.最后,通过仿真验证该控制算法的有效性.In this paper,an adaptive fault-tolerant attitude control algorithm is designed for flexible spacecraft under model uncertainties,external disturbance,and actuator fault.The proposed control algorithm includes the nominal control part and the compensated control part.First,the nominal control algorithm is proposed to realize spacecraft attitude control in the absence of lumped uncertainties.Then,based on integral sliding mode control,an adaptive compensated control algorithm which acted as a disturbance observer,is designed to eliminate the lumped uncertainty.The main feature of the proposed control algorithm is that it is global finite time attitude control,i.e.,the assumption that angular velocity or its derivative,as well as the actuator failure or its derivative,are bounded.Simultaneously,the stability of the whole closed loop system is strictly proved by Lyapunov techniques.Finally,numerical examples are given to illustrate the efficiency of the proposed control algorithm.

关 键 词：姿态控制 自适应控制 干扰观测器 柔性航天器 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]