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.%In order to solve the question of attitude tracking problem of a small satellite with external disturbances, input saturation and actuator failures, this paper proposes an adaptive backstepping fault-tolerant control law. The method combines backstepping and adaptive sliding mode control schemes, such that the bound of disturbances are not required. An adaptive scheme is designed to estimate the minimum of actuators' fault and the maximum of control action produced by the actuator that is out of control, and thus the fault detection and isolation algorithm is avoided. Lyapunov stability analysis shows that the closed-loop system is proved to be asymptotically stable. The simulation results show that the method can achieve expected tracking performance, great fault-tolerant capability and robustness.
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