Extended state observer-based attitude fault-tolerant control of rigid spacecraft |
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Authors: | Lijian Yin Zhihong Deng Baoyu Huo |
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Affiliation: | 1. School of Automation, Beijing Institute of Technology, Beijing, People's Republic of China;2. The Second Construction Limited Company of China Construction Eighth Engineering Division, Jinan, People's Republic of China |
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Abstract: | In this paper, a novel fault-tolerant attitude tracking control is proposed for a rigid spacecraft with uncertain inertia matrix, actuator faults, actuator misalignment and external disturbances. The uncertainty of the inertial matrix is caused by the rotation of solar panels, payload movement and fuel consumption, and actuator faults, which include partially failed and completely failed actuators. A novel extended state observer is proposed to estimate the total uncertainties and a fast nonsingular terminal sliding-mode control scheme is proposed to get a faster, higher control precision. Strict finite-time convergence and the concrete convergence time are given. Finally, all the states of the closed-loop system are guaranteed to converge to the corresponding region in a finite time by choosing appropriate parameters. Simulation and comparison results further show the effectiveness and advantages of this method. |
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Keywords: | Extended state observer stability nonsingular terminal sliding mode control rigid spacecraft |
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