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首页> 外文期刊>Acta astronautica >Observer-based fault-tolerant attitude tracking control for rigid spacecraft with actuator saturation and faults
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Observer-based fault-tolerant attitude tracking control for rigid spacecraft with actuator saturation and faults

机译：基于观察者的刚性航天器具有致动器饱和度和故障的容错姿态跟踪控制

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This work mainly addresses the attitude tracking problem for rigid spacecraft subject to external disturbances, actuator saturation and faults. Firstly, a finite-time prescribed performance function (FTPPF) is defined to limit the tracking errors of original system into the boundary constraints and converge into a small residual set around zero within the preassigned time. An error transformation is employed to transform the constrained control system into an unconstraint one to simplify the relevant controller design. With the aid of the hyperbolic tangent function, the actuator saturation is approximated, and the approximation error is included into the external disturbances to be restrained. Then, a linear extended state observer (LESO) is developed to address the synthetic disturbances mentioned above with fewer tuning parameters. Wherein, the nominal matrix replaces the actual input gains is employed in the LESO design to avoid the singularity in disturbance rejection resulted from saturation approximation. Furthermore, an observer-based fault-tolerant tracking controller is derived to stabilize the attitude tracking error system and realize the disturbance compensation. Compared with the existing methods based on neutral networks (NNs) or fuzzy approximations, the developed scheme can achieve simultaneous estimations of multiple disturbances with simpler design. Meanwhile, the disadvantage that the NNs and fuzzy approximations are only effective on some compact sets is avoided. Finally, numerical simulations and analyses are employed to verify the superiority and robustness of the proposed method.
机译：这项工作主要解决了刚性航天器的态度跟踪问题，符合外部干扰，执行器饱和度和故障。首先，定义有限时间规定的性能函数（FTPPF）以将原始系统的跟踪误差限制在边界约束中，并在预先评估的时间内收敛到零周围左右的小残余集合。采用错误转换来将约束的控制系统转换为非约束，以简化相关的控制器设计。借助双曲线切线功能，致动器饱和度近似，并且近似误差包括在要限制的外部干扰中。然后，开发了线性扩展状态观察者（LESO）以解决上述合成扰动，具有较少的调谐参数。其中，标称矩阵替换了Leso设计中采用实际输入增益，以避免饱和近似引起的扰动抑制中的奇点。此外，导出了一种基于观察者的容错跟踪控制器，以稳定姿态跟踪误差系统并实现干扰补偿。与基于中性网络（NNS）或模糊近似的现有方法相比，开发方案可以同时实现具有更简单设计的多种干扰的估计。同时，避免了NNS和模糊近似仅在一些紧凑型套件上有效的缺点。最后，采用数值模拟和分析来验证所提出的方法的优越性和鲁棒性。

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