Li Bo, Qin Ke, Xiao Bing, Yang Yongsheng
Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai 201306, China.
School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.
ISA Trans. 2019 Aug;91:11-20. doi: 10.1016/j.isatra.2019.01.039. Epub 2019 Feb 8.
This work addresses the challenging problem of finite-time fault tolerant attitude stabilization control for the rigid spacecraft attitude control system without the angular velocity measurements, in the presence of external disturbances and actuator failures. Consider the severe circumstances with above failures and uncertainties, a novel continuous finite-time Extended State Observer is first established to observe the attitude angular velocity and the synthetic failure simultaneously. Unlike the existing observers, the finite-time methodology and Extended State Observer are utilized, to achieve the finite-time uniformly ultimately bounded stability of the attitude angular velocity and extended state observation errors. Furthermore, a novel continuous finite-time attitude controller is developed by using the nonsingular terminal sliding mode control and super-twisting method. The main feature of this work stems from our use of multiply advanced techniques or methodologies that enables the finite-time stability of the closed-loop attitude control system and the designed control scheme is continuous with the property of chattering restraining. Finally, numerical simulation results are presented to illustrate the effectiveness and fine performances of the finite-time observer and controller for the attitude control system.
本文研究了在无角速度测量、存在外部干扰和执行器故障的情况下，刚性航天器姿态控制系统的有限时间容错姿态稳定控制这一具有挑战性的问题。考虑到上述故障和不确定性的严峻情况，首先建立了一种新型连续有限时间扩展状态观测器，以同时观测姿态角速度和综合故障。与现有观测器不同，采用了有限时间方法和扩展状态观测器，以实现姿态角速度和扩展状态观测误差的有限时间一致最终有界稳定性。此外，利用非奇异终端滑模控制和超扭曲方法，开发了一种新型连续有限时间姿态控制器。这项工作的主要特点源于我们使用了多种先进技术或方法，这些技术或方法使得闭环姿态控制系统具有有限时间稳定性，并且所设计的控制方案是连续的，具有抑制抖振的特性。最后，给出了数值仿真结果，以说明有限时间观测器和控制器在姿态控制系统中的有效性和良好性能。
