SE(3)-based Finite-time Fault-tolerant Control of Spacecraft Integrated Attitude-orbit

doi:10.16182/j.issn1004731x.joss.21-0988

Abstract

Abstract:

For relative motion spacecraft, when the actuator fails and the external disturbance and system uncertainty occur simultaneously, a finite-time fault-tolerant control method is proposed on the basis of the robustness of sliding mode control. A single-rigid spacecraft integrated attitude-orbit model is established based on Lie Group SE(3), and the relative motion spacecraft error dynamic equation is derived in exponential coordinates. A class of non-singular fast terminal sliding surface is designed, and the equivalent adaptive method is adopted to design the controller to estimate and compensate the total disturbance. The proposed fault-tolerant control algorithm can be independent from fault diagnosis and detection. Lyapunov method is used to prove the stability and fast convergence of the system under multiple constraints such as faults and disturbances. The analysis on numerical simulation results also verifies the fastness, accuracy and reliability of the fault-tolerant controller.

Key words: lie group SE(3), integrated attitude-orbit, finite time, sliding mode control, fault-tolerant control

CLC Number:

TP271+.62

Yafei Mei, Ying Liao, Kejie Gong, Xingyu Zheng. SE(3)-based Finite-time Fault-tolerant Control of Spacecraft Integrated Attitude-orbit[J]. Journal of System Simulation, 2023, 35(2): 277-285.

Figures/Tables 9

Table 1

Initial state of the follower spacecraft relative to the leader spacecraft.

初始相对参数	数值
初始相对位置/m	$151515 T$
初始相对线速度/(m/s)	$- 0.051 - 0.247 - 0.075 T$
初始相对姿态角/rad	$2 π 3$
初始相对旋转轴	$- 2 - 2 - 3 T$
初始相对角速度/(rad/s)	$0.009 5.98 - 9.31 T × 10 - 4$

Table 1

Table 2

Control parameters

参数名称

参数值

滑模面

$α 1 = 1.4, α 2 = 1.8$

$C 1 = d i a g (20, 20, 20, 20, 20, 20)$

$C 2 = d i a g (0.002, 0.002, 0.002, 0.001, 0.001, 0.001)$

控制参数

$K 1 = d i a g (20, 20, 20, 20, 20, 20)$

$K 2 = d i a g (10, 10, 10, 5, 5, 5)$

$λ = 5 × 10 - 8$

Table 2

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

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