Abstract
This paper aims to solve the control problem of coupled spacecraft tracking maneuver in the case of actuator faults, inertia parametric uncertainties, and external disturbances. Firstly, the spacecraft attitude and position coupling kinematics and dynamics model are established on the Lie group SE(3), and the coupled relative motion tracking error model is derived by exponential coordinates. Then, considering the actuator faults, an adaptive fuzzy scheme is proposed to estimate the lumped disturbances in real time, and a novel modified fixed-time terminal sliding mode fault-tolerant control law is developed to deal with the actuator faults and compensate the lumped disturbances. Next, the Lyapunov method is used to prove the stability and convergence of the system. Finally, the proposed controller can achieve fast and high-precision fault-tolerant control goals, and its effectiveness and feasibility are verified by numerical simulation.
Highlights
In the context of the rapid development of space technology, new and higher requirements have been put forward for the mobility and accuracy of spacecraft. e modeling and control of the attitude and trajectory of relatively moving spacecraft has always been a hot research topic in the fields of space rendezvous and docking, spacecraft formation flying (SFF) [1, 2]
In order to describe the space orientation of the leader-follower spacecraft and establish the kinematics and dynamics model, we introduce three reference frames that are all orthogonal coordinate systems as shown in Figure 1. e Earth-centered inertial (ECI) reference frame with the origin at the center of the Earth is represented by {I} xI, yI, zI, which is used to describe the absolute motion of the spacecraft relative to the Earth. e body-fixed frames of the leader spacecraft and the follower spacecraft can be expressed as {Lb} xLb, yLb, zLb and {Fb} xFb, yFb, zFb, respectively; their origin is at the center of mass of the spacecraft, and the axis coincides with the principal axis of inertia
Where li 1, . . . , M is the number of fuzzy rules for each input variable xk, z is the output of the fuzzy system, Alk is the fuzzy set of system input variables, and Bl is the fuzzy set of system output
Summary
In the context of the rapid development of space technology, new and higher requirements have been put forward for the mobility and accuracy of spacecraft. e modeling and control of the attitude and trajectory of relatively moving spacecraft has always been a hot research topic in the fields of space rendezvous and docking, spacecraft formation flying (SFF) [1, 2]. The integrated model of spacecraft attitude and position coupling is established in the framework of Lie group SE(3), which is convenient for the design of fault-tolerant controllers in the following. Gao et al proposed adaptive fixed time attitude tracking control for rigid spacecraft with actuator faults on MRPs [38]. En, the adaptive fuzzy method is used to design the sliding mode controller to realize the fixed-time fault-tolerant control. Based on the established model, a modified double-power fast terminal sliding manifold is defined by the exponential coordinates and velocity tracking errors, and adaptive fuzzy modified fixed-time faulttolerant control schemes is proposed, in which the adaptive fuzzy control technique is applied to reject the system lumped disturbances.
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