Observer-Based Fault-Tolerant Spacecraft Attitude Tracking Using Sequential Lyapunov Analyses

• 成果类型: Article
• 署名作者: Gui, Haichao
• 署名单位: Beihang University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3062159
• 发表日期: 2021
• 页码: 6108-6114
• 关键词: Attitude control; Space vehicles; actuators; torque; observers; uncertainty; Angular velocity; Attitude control; fault-tolerant control; sequential Lyapunov analysis; sliding-mode control

摘要

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.