中文摘要：

针对卫星在轨飞行过程中存在执行机构故障及带有常值干扰的控制问题,提出了一种将时延控制（TDC）与反步技术相结合的鲁棒容错控制方法。该方法在继承反步控制优点的同时,引入积分环节用于减小常值干扰引起的稳态误差;同时,利用TDC的逼近能力来补偿执行机构的故障,且对设计者而言,故障信息不需要进行在线的检测和分离,而仅需要一步状态迭代。基于Lyapunov方法从理论上证明了系统的稳定性。最后,将该方法应用于卫星的姿态调节控制,仿真结果表明该控制器能有效地抑制外部干扰、参数不确定性和执行机构故障的约束,在完成姿态调节控制的同时,具有良好的过渡过程品质。

英文摘要：

In this article,a time-delay control（TDC）based backstepping attitude control system is developed for a three-axis stabilized satellite with redundant reaction wheels which takes actuator faults into account.More specifically,this proposed controller combines the TDC and the recursive backstepping technique,in which an integral feedback of the attitude is explicitly incorporated to compensate for possible constant torques.With the TDC,unknown actuator faults are estimated by using one-step previous state information and canceled out by the estimated values,so that the fault detection and isolation mechanism is not involved.Lyapunov analysis is employed to show that the resulting closed-loop system is stable,and that the effect of external disturbances and possible uncertainties on the output can also be attenuated by choosing appropriately the design parameters.To study the effectiveness of the corresponding control scheme,traditional methods are also developed and compared for the control system.Both analytical and numerical results are presented to demonstrate the theoretical and practical merits of this approach.