Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

Gui Haichao; Vukovich George

摘要

Summary >The attitude tracking of a rigid spacecraft is approached in the presence of uncertain inertias, unknown disturbances, and sudden actuator faults. First, a novel integral terminal sliding mode (ITSM) is designed such that the sliding motion realizes the action of a quaternion‐based nonlinear proportional‐derivative controller. More precisely, on the ITSM, the attitude dynamics behave equivalently to an uncertainty‐free system, and finite‐time convergence of the tracking error is achieved almost globally. A basic ITSM controller is then designed to ensure the ITSM from onset when an upper bound on the system uncertainties is known. Further, to remove this requirement, adaptive techniques are employed to compensate for the uncertainties, and the resultant adaptive ITSM controller stabilizes the system states to a small neighborhood around the sliding surface in finite time. The proposed schemes avoid the singularity intrinsic to terminal sliding mode‐based controllers and the unwinding phenomenon associated with some quaternion‐based controllers. Numerical examples demonstrate the advantageous features of the proposed algorithm. Copyright ? 2017 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”> <title type =“main”>摘要</ title> >接近刚性航天器的态度跟踪在存在不确定的惯性，未知的干扰和突然的执行器故障。首先，设计一种新颖的整体末端滑动模式（ITSM），使得滑动运动实现了基于四元数的非线性比例衍生物控制器的动作。更确切地说，在ITSM上，姿态动力学的行为等效地与无规匀的系统相当，并且几乎全局实现了跟踪误差的有限时间汇聚。然后，当已知系统不确定性的上限时，基本的ITSM控制器旨在确保ITSM从发起。此外，为了消除该要求，采用自适应技术来补偿不确定性，并且所得的自适应ITSM控制器在有限时间内将系统状态稳定到滑动表面周围的小邻域。所提出的方案避免了基于终端滑动模式的奇异性的奇异性，以及与基于四元数控制器相关的展开现象。数值示例展示了所提出的算法的有利特征。版权？ 2017年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2017年第16期</span><b style="margin: 0 2px;">|</b><span>共23页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Gui Haichao&option=202" target="_blank" rel="nofollow">Gui Haichao;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Vukovich George&option=202" target="_blank" rel="nofollow">Vukovich George;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Department of Aerospace EngineeringRyerson UniversityToronto Ontario Canada;</p> <p>Department of Earth and Space Science and EngineeringYork UniversityToronto Ontario Canada;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=adaptive control&option=203" rel="nofollow">adaptive control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=attitude tracking&option=203" rel="nofollow">attitude tracking;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=fault‐tolerant control&option=203" rel="nofollow">fault‐tolerant control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=finite time&option=203" rel="nofollow">finite time;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=integral terminal sliding mode&option=203" rel="nofollow">integral terminal sliding mode;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=unwinding&option=203" rel="nofollow">unwinding;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=robust control&option=203" rel="nofollow">robust control;</a> </p> <div class="translation"> 机译：自适应控制;态度跟踪;容错控制;有限时间;积分终端滑动模式;展开;鲁棒控制; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity 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href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=徐世杰&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor">,徐世杰</a> <span> <a href="/conference-cn-11862/" target="_blank" rel="nofollow" class="tuijian_authcolor"> . 全国第十四届空间及运动体控制技术学术会议 </a> <span> <span> . 2010</span> </span> </div> </li> <li> <div> <b>7. </b><a class="enjiyixqcontent" href="/academic-degree-domestic_mphd_thesis/020313102440.html">多界依赖的挠性航天器鲁棒与容错姿态控制</a> <b>[A] </b> <span> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=张斌&option=202" target="_blank" rel="nofollow" class="tuijian_auth tuijian_authcolor"> . 张斌</a> <span> . 2017</span> </span> </div> </li> </ul> <ul style="display: none;"> <li> <div> <b>1. </b><a class="enjiyixqcontent" href="/patent-detail/06120113714755.html">一种刚体航天器预定时间容错姿态控制策略</a> <b>[P]</b> . <span> 中国专利： CN113885547A </span> <span> . 2022-01-04</span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/patent-detail/061201727005.html">航天器姿态控制系统的间歇性故障容错分析方法</a> <b>[P]</b> . <span> 中国专利： CN102778889B </span> <span> . 2015.07.29</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130442552075.html">Fault tolerant attitude control system for zero momentum spacecraft</a> <b>[P]</b> . <span> 外国专利：  US6702234B1 </span> <span> . 2004-03-09</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：零动量航天器的容错姿态控制系统 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130402357787.html">FAULT TOLERANT CONTROL SYSTEM, FAULT TOLERANT SYSTEM, FAULT TOLERANT CONTROL METHOD, AND FAULT TOLERANT CONTROL PROGRAM</a> <b>[P]</b> . <span> 外国专利：  JP2020030503A </span> <span> . 2020-02-27</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: 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