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针对近空间飞行器姿态控制中出现的执行器故障,输入饱和与外部干扰等问题,设计了一种基于二阶滑模干扰观测器和辅助系统的鲁棒容错跟踪控制方法.首先,将系统不确定,外部扰动和执行器故障作为复合干扰,设计super-twisting二阶滑模干扰观测器对其进行估计.然后为解决输入饱和问题构造了辅助分析系统,并借助backstepping方法,设计姿态容错跟踪控制器.利用Lyapunov方法,严格证明了所有闭环系统信号的收敛性.最后将所设计的控制方法应用于近空间飞行器姿态控制中,仿真结果验证了该控制方法的有效性.
Aiming at the problems of actuator failure, input saturation and external disturbance appearing in attitude control of near space vehicles, a robust fault-tolerant tracking control method based on second-order sliding mode disturbance observers and auxiliary systems is designed. Firstly, , External disturbance and actuator fault as compound interference, the super-twisting second-order sliding mode interference observer is designed to estimate the input disturbance.Then, an auxiliary analysis system is constructed to solve the input saturation problem, and the backstepping method is used to design the attitude fault-tolerant tracking controller The convergence of signals in all closed-loop systems is strictly proved by the Lyapunov method.Finally, the proposed control method is applied to the attitude control of a near-space vehicle, and the simulation results verify the effectiveness of the proposed control method.