Huang Xiuwei, Duan Guangren
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, PR China.
Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, PR China; State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, PR China.
ISA Trans. 2020 Mar;98:161-172. doi: 10.1016/j.isatra.2019.08.041. Epub 2019 Sep 3.
Capture and control of a failed spacecraft can be achieved by a space manipulator installed in a service spacecraft. After this target has been captured, the combined spacecraft must be controlled in a prescribed way. The attitude attacking control of the combined spacecraft system is one major challenge since the mass properties of the whole spacecraft system and configuration matrix of the reaction wheels change, especially when actuator fault occurs. In this paper, a nonlinear disturbance-observer-based fault-tolerant attitude control scheme is developed for the combined spacecraft with prescribed performance. Firstly, an approach is given to reconstruct the attitude tracking dynamics of the combined spacecraft with reaction wheels. Then, a fault-tolerant controller, based on dynamic surface method and nonlinear extended state observer, is developed whereby performance in the light of convergence time, stability and accuracy with inertia uncertainty, actuator saturation and external disturbance can be prescribed. Finally, comparative simulations in both actuator faults and actuator fault-free cases are conducted to show the superiority of the developed attitude tracking control method.
通过安装在服务航天器上的空间操纵器可以实现对故障航天器的捕获和控制。捕获该目标后，必须以规定的方式控制组合航天器。组合航天器系统的姿态攻击控制是一个主要挑战，因为整个航天器系统的质量特性和反作用轮的配置矩阵会发生变化，特别是在执行器出现故障时。本文针对具有规定性能的组合航天器，提出了一种基于非线性干扰观测器的容错姿态控制方案。首先，给出了一种重建带反作用轮的组合航天器姿态跟踪动力学的方法。然后，基于动态表面方法和非线性扩展状态观测器开发了一种容错控制器，从而可以规定在收敛时间、稳定性以及存在惯性不确定性、执行器饱和和外部干扰情况下的精度方面的性能。最后，在执行器故障和无执行器故障的情况下进行了对比仿真，以展示所开发的姿态跟踪控制方法的优越性。
