执行器故障下的运载火箭非奇异终端滑模容错控制

针对存在未知外部干扰和执行器卡死故障的运载火箭，提出了一种基于非奇异终端滑模面的姿态跟踪控制算法。首先，建立了考虑干扰和执行器卡死故障的运载火箭姿态控制系统多输入多输出系统模型；然后定义了运载火箭姿态跟踪系统模型，针对定义的模型，设计了一种非奇异终端滑模面，使得系统在执行器故障情况下仍能较为精确地跟踪参考信号。基于李雅普诺夫函数证明了运载火箭姿态跟踪控制系统的稳定性和有限时间收敛特性。数值仿真检验了本文基于非奇异终端滑模运载火箭姿态跟踪控制算法的有效性。

Non Singular Terminal Sliding Mode Fault Tolerant Control of Launch Vehicle with Actuator Fault

An attitude tracking control algorithm based on non singular terminal sliding mode surface is proposed for a launch vehicle with unknown external disturbance and actuator stuck fault. Firstly, a multi input multi output (MIMO) system model of a launch vehicle attitude control system considering disturbance and actuator stuck fault is established. Then, a model of the launch vehicle attitude tracking system is established, and a non singular terminal sliding mode surface is designed for the defined model, so that the system can track the reference signal accurately in the event of actuator fault. Based on the Lyapunov function, the stability and finite time convergence characteristics of the launch vehicle attitude tracking control system are proved. The numerical simulations verify the effectiveness of the attitude tracking control algorithm based on non singular terminal sliding mode for launch vehicle.