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Robust Adaptive Saturated Fault-tolerant Control of Autonomous Rendezvous with Mismatched Disturbances

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Abstract

This paper investigates the robust adaptive relative pose control design for spacecraft rendezvous and docking missions in the presence of parametric uncertainty, matched and mismatched disturbances, actuator saturation and faults. An adaptive saturated fault-tolerant controller is developed by incorporating the anti-windup compensator to adaptive backstepping technique. In contrast to traditional saturated fault-tolerant controllers for the spacecraft systems, the advantage of the proposed control approach can deal with the mismatched disturbances in the model. Also this approach does not require exact knowledge of the actuator faults and is implemented with uncertain value of fault information. Lyapunov analysis is employed to prove the ultimately uniformly bounded stability of the closed-loop system, where relative pose and velocities converge to adjustable small neighborhoods of zero. Numerical simulation results demonstrate the effectiveness of the proposed control approach.

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Author information

Authors and Affiliations

  1. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, 100083, Beijing, P. R. China

    Liang Sun

  2. Institute of Artificial Intelligence, University of Science and Technology Beijing, 100083, Beijing, P. R. China

    Liang Sun

  3. Research and Development Department, China Academy of Launch Vehicle Technology, Beijing, 100076, P. R. China

    Guang Sun

Authors
  1. Liang Sun
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Correspondence to Liang Sun.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was supported by the Fundamental Research Funds for Central Universities (No. FRF-GF-18-028B) and the National Natural Science Foundation of China (No. 61703018).

Liang Sun received his M.Sc. and Ph.D. degrees both in control theory and control engineering, from Beihang University, Beijing, People’s Republic of China, in 2011 and 2015, respectively. He was with the Beihang University as a Postdoctoral Fellow from 2015 to 2017. From 2017, he has been an Associate Professor with the School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, People’s Republic of China. His research interests include nonlinear systems control, aerospace control, and intelligent control.

Guang Sun received his M.Sc. degree in operational research and cybernetics from Qufu Normal University, Qufu, People’s Republic of China, in 2007, and his Ph.D. degree in control theory and control engineering from Beihang University, Beijing, People’s Republic of China, in 2011, respectively. From 2011, he has been with the Research and Development Center, China Academy of Launch Vehicle Technology, Beijing, People’s Republic of China, where he has been a Senior Engineer since 2017. His main research interest is nonlinear systems control, aerospace control, and intelligent control.

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Sun, L., Sun, G. Robust Adaptive Saturated Fault-tolerant Control of Autonomous Rendezvous with Mismatched Disturbances. Int. J. Control Autom. Syst. 17, 2703–2713 (2019). https://doi.org/10.1007/s12555-018-0636-2

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  • DOI: https://doi.org/10.1007/s12555-018-0636-2

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