论文标题
使用顺序Lyapunov分析的基于观察者的耐断层航天器态度跟踪
Observer-Based Fault-Tolerant Spacecraft Attitude Tracking Using Sequential Lyapunov Analyses
论文作者
论文摘要
航天器态度跟踪问题是通过执行器断层和惯性，外部干扰，尤其是状态估计的问题来解决的。连续的滑动模式姿态控制器是使用任意稳定独立观察者的姿态和角速度估计来设计的。严格的分析表明，只要观察者产生状态估计，最终最终有界估计误差，控制器就可以确保整个闭环系统的稳健稳定性。此外，利用顺序的Lyapunov分析来获得分析的收敛序列，在稳态跟踪误差上依次更紧密的上限。因此，我们的结果可用于预测给定选定收益的稳态性能界限，或在给定稳态性能范围内促进增益选择。数值示例证明了所提出的理论的实用性。
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using attitude and angular velocity estimates from an arbitrary stable stand-alone observer. Rigorous analysis shows that the controller ensures robust stability of the entire closed-loop system as long as the observer yields state estimates with uniformly ultimately bounded estimation errors. In addition, a sequential Lyapunov analysis is utilized to obtain a convergent sequence of analytical, successively tighter upper bounds on the steady-state tracking error. Therefore, our results can be used to predict steady-state performance bounds given selected gains or facilitate gain selection given steady-state performance bounds. Numerical examples demonstrate the utility of the proposed theory.
