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Continuous finite-time extended state observer based fault tolerant control for attitude stabilization

机译：基于连续有限时间扩展状态观测器的姿态稳定容错控制

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This work investigates the challenging problem of fast robust fault tolerant attitude control for spacecraft to handle external disturbances, actuator failures and misalignments. More specially, a novel nonsingular terminal sliding mode based finite-time extended state observer is first designed to estimate and compensate for the lumped system faults or uncertainties. And the proposed extended state observer is analysed and proved to be stable in the sense of fast finite-time uniformly ultimately bounded stability. Then, utilizing the techniques of super-twisting and terminal sliding mode control synthetically, a novel continuous attitude control algorithm is developed. The finite-time stability of the closed-loop attitude control system is proved by using a continuously-differentiable, homogeneous and strict Lyapunov function. And also the proposed control scheme is continuous with the property of chattering restraining. Finally, some numerical simulation results are shown to verify the effectiveness and superior performances of the spacecraft attitude stabilization control system driven by the proposed fast robust fault tolerant attitude control scheme. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：这项工作研究了航天器快速健壮的容错姿态控制的挑战性问题，以处理外部干扰，执行器故障和不对准。更具体地说，首先设计了一种新颖的基于非奇异终端滑模的有限时间扩展状态观测器，以估计和补偿集总的系统故障或不确定性。并从快速有限时间均匀最终有界稳定性的角度分析并证明了提出的扩展状态观测器是稳定的。然后，综合利用超扭曲和终端滑模控制技术，提出了一种新颖的连续姿态控制算法。通过使用一个连续可微的，齐次的和严格的李雅普诺夫函数证明了闭环姿态控制系统的时间稳定性。并且所提出的控制方案具有颤振抑制的性质。最后，通过一些数值模拟结果验证了所提出的快速鲁棒容错姿态控制方案驱动的航天器姿态稳定控制系统的有效性和优越性能。 （C）2018 Elsevier Masson SAS。版权所有。

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