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针对小卫星在轨运行中存在输入饱和、干扰力矩与执行器故障的姿态跟踪控制问题,提出了一种反步自适应滑模变结构鲁棒容错控制方法。该方法将反步控制和滑模控制相结合,利用自适应算法估计执行器有效因子最小值和干扰上界,避免了对故障的检测与隔离,实现了输入饱和、干扰和故障对系统稳定性影响的抑制。基于Lyapunov方法从理论上证明了闭环系统的稳定性;将该方法用于小卫星的状态跟踪控制,仿真结果表明该控制器能有效处理姿态控制时输入饱和受限的约束,对部分失效和偏差型故障具有较强的容错能力,并具有一定鲁棒性。
Aiming at the problem of attitude tracking control of small satellite in orbit operation, such as input saturation, disturbance torque and actuator failure, a robust fault-tolerant control method for backstepping adaptive sliding mode variable structure is proposed. This method combines backstepping control with sliding mode control, and uses adaptive algorithm to estimate the minimum value of actuator effective factor and the upper bound of interference, which avoids the detection and isolation of faults, and realizes the stability of input saturation, disturbance and fault to the system Suppression of effects. The stability of the closed-loop system is proved theoretically based on the Lyapunov method. The proposed method is applied to the state tracking control of the small satellite. The simulation results show that this controller can effectively deal with the constraint of input saturation in attitude control, Type fault has a strong fault tolerance, and has some robustness.