Spacecraft adaptive fault-tolerant attitude tracking control method with specified tracking performance
A control method and tracking control technology, applied in the direction of attitude control, aerospace vehicles, aircraft, etc., can solve problems such as safety problems, economic losses, and failure of actuators
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[0048] The concrete implementation of the present invention is described in detail below, it is necessary to point out here that the following implementation is only used for further description of the present invention, and can not be interpreted as limiting the protection scope of the present invention. Some non-essential improvements and adjustments still belong to the protection scope of the present invention.
[0049] In the first step, considering various external disturbances to the spacecraft, the kinematics model and dynamics model of the spacecraft can be described as:
[0050]
[0051] where J∈R 3×3 is the inertia matrix in the body coordinate system B, which can be designed as u=[u 1 , u 2 , u 3 ] T ∈R 3 , represents the propulsion force provided by n propellers, T d =[T d1 , T d2 , T d3 ] T ∈R 3 Indicates the external disturbance torque suffered by the spacecraft, and the periodic external disturbance is set to T d =0.2×[sin(0.2πt),sin(0.1πt),sin(...
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