基于SE(3)的航天器姿轨一体化有限时间容错控制

针对相对运动航天器，当执行机构出现故障以及外部干扰和系统不确定性同时存在的情形下，利用滑模控制的鲁棒性，提出了一种有限时间容错控制方法。基于李群SE(3)建立了单刚体航天器姿轨一体化模型，并在指数坐标下推导了相对运动航天器误差动力学方程。设计了一类非奇异快速终端滑模面，并采用等价自适应方法设计控制器估计和补偿外总扰动，提出的容错控制算法可以不依赖于故障诊断与检测环节。运用Lyapunov方法证明了系统在故障和扰动等多约束条件下的稳定性和有限时间快速收敛性，数值仿真结果分析也验证了该容错控制器的快速性、准确性与可靠性。

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

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.