基于增广P型学习观测器的航天器故障重构和自适应容错控制

针对航天器姿态控制系统常见的传感器故障问题，基于增广P型学习观测器技术研究了故障重构问题，并对故障系统进行了容错控制器的设计.首先，考虑同时存在传感器故障和未知干扰输入的航天器姿控系统状态空间模型，将故障等效考虑成与前一时刻故障估计值和当前时刻输出误差有关的两项，借助Lyapunov定理设计观测器，并采用LMI方法给出了观测器参数矩阵系统化设计方法.然后，设计积分滑模面，将得到的等效控制律代入系统状态空间模型后，设计包含自适应故障补偿控制项和线性输出反馈控制项的容错控制律.最后通过仿真实例验证了所设计观测器和容错控制器的有效性.

Fault reconstruction and adaptive fault-tolerant control of spacecraft based on augmented P-type learning observer

To deal with the sensor failures commonly occurred in spacecraft attitude control system, we make the fault reconstruction based on the augmented P-type learning observer, and design a fault-tolerant controller for the failure system.First, the state space model of the spacecraft attitude control system is established considering both sensor faults and unknown interference inputs.The fault is really the equivalent of two related terms, which are the fault estimate at the previous moment and the output error at the current moment.The observer is designed using Lyapunov theorem, and the LMI (Linear Matrix Inequality) is utilized to give a systematic design of the observer parameter matrix.Then, the integral sliding mode surface is designed, and the equivalent control law obtained is substituted into the system state space model, and then a fault-tolerant control law including adaptive fault compensation control term and linear output feedback control term is established.Finally, the effectiveness of the designed observer and fault-tolerant controller is verified by a simulation example.