Fault-Tolerant Attitude Control of Spacecraft presents the fundamentals of spacecraft fault-tolerant attitude control systems, along with the most recent research and advanced, nonlinear control techniques. This book gives researchers a self-contained guide to the complex tasks of envisaging, designing, implementing and experimenting by presenting designs for integrated modeling, dynamics, fault-tolerant attitude control, and fault reconstruction for spacecraft. Specifically, the book gives a full literature review and presents preliminaries and mathematical models, robust fault-tolerant attitude control, fault-tolerant attitude control with actuator saturation, velocity-free fault tolerant attitude control, finite-time fault-tolerant attitude tracking control, and active fault-tolerant attitude contour. Finally, the book looks at the future of this interesting topic, offering readers a one-stop solution for those working on fault-tolerant attitude control for spacecraft. Presents the fundamentals of fault-tolerant attitude control systems for spacecraft in one practical solution Gives the latest research and thinking on nonlinear attitude control, fault tolerant control, and reliable attitude control Brings together concepts in fault control theory, fault diagnosis, and attitude control for spacecraft Covers advances in theory, technological aspects, and applications in spacecraft Presents detailed numerical and simulation results to assist engineers Offers a clear, systematic reference on fault-tolerant control and attitude control for spacecraft
Author(s): Qinglei Hu; Bing Xiao; Bo Li; Youmin Zhang
Publisher: Elsevier
Year: 2021
Language: English
Pages: 304
City: Amsterdam
Front Cover
Fault-Tolerant Attitude Control of Spacecraft
Copyright
Contents
List of Figures
List of Tables
Biography
Qinglei Hu
Bing Xiao
Bo Li
Youmin Zhang
Preface
Acknowledgments
1 Overview
1.1 Introduction
1.2 Fault analysis of spacecraft
1.2.1 General analysis
1.2.2 Analysis to faults in ACS
1.2.2.1 Thruster fault
1.2.2.2 Momentum wheel fault
1.3 Fault-tolerant control systems
1.4 Review of FDD for spacecraft
1.4.1 Model-based FDD approaches
1.4.2 Data driven-based FDD schemes
1.5 Spacecraft attitude fault-tolerant control engineering
1.5.1 Engineering techniques for spacecraft FTC
1.5.2 Discussions
1.6 Review of spacecraft attitude fault-tolerant control
1.6.1 Attitude FTC design using adaptive control
1.6.2 Sliding mode-based attitude FTC methodologies
1.6.3 Control allocation-based attitude FTC
1.7 Open problems in spacecraft attitude fault-tolerant control
1.7.1 Without considering actuator nonlinearities
1.7.2 Having great conservativeness
1.7.3 Requiring angular velocity measurements
1.7.4 Without attitude fast slewing capability
1.8 Organization of this book
2 Preliminaries
2.1 Introduction
2.2 Mathematical notations
2.3 Definitions and preliminary lemmas
2.4 Modeling of spacecraft attitude control system
2.4.1 Coordinate frames
2.4.2 Attitude kinematics
2.4.2.1 The kinematics with attitude described by Euler angles
2.4.2.2 The kinematics with attitude described by unit quaternion
2.4.2.3 The kinematics with attitude described by the modified Rodrigues parameters
2.4.3 Spacecraft dynamics
2.4.3.1 Dynamics of rigid spacecraft
2.4.3.2 Dynamics of flexible spacecraft
2.5 Modeling of actuator faults
2.5.1 Reaction wheel faults
2.5.2 Mathematical model of RW faults
2.6 Summary
3 Robust fault-tolerant attitude control
3.1 Introduction
3.2 Adaptive sliding-mode-based attitude FTC
3.2.1 Problem statement
3.2.2 Adaptive integral sliding-mode FTC law
3.2.2.1 Sliding manifold design
3.2.2.2 Adaptive sliding-mode controller under constant fault
3.2.2.3 Adaptive controller design under time-varying fault
3.2.3 Numerical example
3.2.3.1 Flexible spacecraft attitude model and actuator fault modes
3.2.3.2 Simulation results
3.3 Robust fault tolerant attitude stabilization control
3.3.1 Problem statement
3.3.2 Robust fault tolerant controller design
3.3.2.1 Nominal controller design for fault-free actuator
3.3.3 Robust fault tolerant controller design with actuator faults
3.3.4 Simulation example
3.3.4.1 Case 1. Healthy actuators
3.3.4.2 Case 2. Loss of actuator effectiveness only
3.3.4.3 Case 3. Simultaneous faults
3.4 Robust H∞ attitude tracking FTC
3.4.1 Attitude tracking control system and control problem
3.4.1.1 Modeling of attitude tracking control system
3.4.1.2 Control problem statement
3.4.2 Adaptive sliding-mode FTC with H∞ performance
3.4.2.1 Adaptive sliding-mode FTC design
3.4.2.2 Modified adaptive sliding mode FTC design
3.4.2.3 Modified adaptive sliding-mode FTC design with actuator constraint
3.4.3 Simulation example
3.4.3.1 Simulation results in the absence of actuator constraint
3.4.3.2 Simulation results in the presence of actuator constraint
3.5 Summary
4 Fault-tolerant attitude control with actuator saturation
4.1 Introduction
4.2 Sliding-mode attitude stabilization FTC
4.2.1 Problem formulation
4.2.2 Fault-tolerant sliding-mode controller design
4.2.2.1 Sliding manifold design
4.2.2.2 Controller design under partial loss of actuator effectiveness fault
4.2.2.3 Fault-tolerant sliding-mode controller design with input constraint
4.2.3 Simulation results
4.2.3.1 Simulation results of Case #1
4.2.3.2 Simulation results of Case #2
4.3 Dynamic sliding-mode attitude stabilization FTC
4.3.1 Problem formulation
4.3.2 Main result
4.3.2.1 Controller design with partial loss of actuator effectiveness fault
4.3.2.2 Controller design under total loss of actuator effectiveness fault
4.3.3 Simulation example
4.3.3.1 Response with healthy actuators
4.3.3.2 Response with actuator fault
4.4 Fault estimation-based attitude FTC
4.4.1 Problem formulation
4.4.2 Active attitude FTC with loss of actuator effectiveness
4.4.2.1 Observer-based FDD design
4.4.2.2 Fault-tolerant attitude stabilization controller design
4.4.3 Simulation example
4.4.3.1 Response under constant loss of actuator effectiveness fault
4.4.3.2 Response under time-varying loss of actuator effectiveness fault
4.5 Summary
5 Fault-tolerant velocity-free attitude control
5.1 Introduction
5.2 Velocity-free attitude stabilization FTC
5.2.1 Sliding-mode observer-based FTC
5.2.1.1 Problem statement
5.2.1.2 Design of terminal sliding-mode observer
5.2.1.3 Design of fault-tolerant attitude controller
5.2.2 Simulation results
5.2.2.1 Fault scenarios of reaction wheel
5.2.2.2 Simulation results when the actuator is normal
5.2.2.3 Simulation results when the actuator fails
5.2.2.4 Quantitative analysis
5.3 Filter-based velocity-free attitude FTC
5.3.1 Attitude FTC without angular velocity magnitude
5.3.1.1 Problem statement
5.3.1.2 Control law design
5.3.2 Numerical simulation
5.3.2.1 Response obtained from the nominal controller
5.3.2.2 Response obtained from the velocity-free fault-tolerant controller
5.4 Attitude stabilization FTC with actuator saturation and partial loss of control effectiveness
5.4.1 Problem statement
5.4.2 Velocity filter design
5.4.3 Fault-tolerant attitude stabilization control design
5.4.3.1 Nominal control law design
5.4.3.2 Fault-tolerant control law design
5.4.3.3 Analysis of the upper bound of the control effort
5.4.3.4 Small value of e0 would not lead to ``weak'' control power
5.4.3.5 Unacceptably long time would not be taken to stabilize attitude
5.4.4 Numerical example
5.4.4.1 Response with fault-free and disturbance-free case
5.4.4.2 Response with actuator fault and disturbances case
5.5 Summary
6 Fault-tolerant finite-time attitude-tracking control
6.1 Introduction
6.2 Attitude tracking control with actuator misalignment and fault
6.2.1 Problem statement
6.2.1.1 Attitude tracking error dynamics
6.2.1.2 Reaction wheel misalignment
6.2.1.3 Reaction wheel fault
6.2.1.4 Control objective
6.2.2 Attitude-tracking FTC design
6.2.2.1 Switching manifold design
6.2.2.2 Attitude compensation control
6.2.3 Numerical example
6.2.3.1 Desired attitude trajectory
6.2.3.2 Tracking maneuver with reaction fault and misalignment
6.2.3.3 Quantitative analysis of mission performing
6.3 Finite-time attitude-tracking FTC
6.3.1 Problem formulation
6.3.1.1 Attitude-tracking error dynamics
6.3.1.2 Control objective
6.3.2 Finite-time attitude-tracking control design
6.3.3 Numerical example
6.3.3.1 Desired attitude trajectory
6.3.3.2 Control performance in reaction wheel fault-free case
6.3.3.3 Control performance in case of reaction wheel faults
6.3.3.4 Quantitative analysis
6.4 Summary
7 Active fault-tolerant attitude control
7.1 Introduction
7.2 Fault compensation attitude tracking control
7.2.1 Problem formulation
7.2.1.1 Open-loop attitude-tracking error dynamics
7.2.1.2 Reaction wheel faults
7.2.1.3 Problem statement
7.2.2 Attitude tracking compensation controller design
7.2.2.1 Fault reconstruction scheme
7.2.2.2 Attitude compensation control law design
7.2.3 Numerical example
7.3 Active attitude stabilization FTC without rate sensors
7.3.1 Problem formulation
7.3.1.1 Attitude maneuvers sequence in the planned missions
7.3.1.2 Satellite model description
7.3.1.3 Actuator fault
7.3.1.4 Problem statement
7.3.2 Attitude FTC without angular velocity measurements
7.3.2.1 Sliding-mode observer design
7.3.2.2 Fault reconstruction module design
7.3.2.3 Velocity-free fault tolerant controller design
7.3.3 Simulations results
7.3.3.1 Main parameters and hardware resources
7.3.3.2 Reaction wheel fault scenarios
7.3.3.3 System responses
7.3.3.4 Quantitative analysis
7.4 Finite-time fault-tolerant attitude tracking control
7.4.1 Fault estimator design
7.4.2 Sliding-mode observer design
7.4.3 Attitude FTC law design
7.4.3.1 Numerical simulation
7.4.3.2 Simulation results under healthy actuators
7.4.3.3 Simulation results under faulty actuators
7.4.3.4 Quantitative analysis
7.5 Summary
8 Conclusions and future work
8.1 General conclusion
8.2 Future work
References
Index
Back Cover
