基于自适应动态规划的运载火箭智能姿态容错控制

ADP-based intelligent attitude fault-tolerant control for launch vehicles

针对运作火箭主动段发动机摆动执行机构故障下的姿态控制问题,结合自适应动态规划(ADP)方法设计了一种智能容错控制策略。该智能容错控制器主要包括2部分:容错稳定控制部分和优化补偿部分。容错稳定控制部分利用自适应和滑模变结构控制设计,主要维持执行机构故障下姿态控制系统的稳定,保证姿态跟踪误差的有限时间收敛;优化补偿部分采用执行-评价结构,利用ADP的在线学习优势,根据姿态系统的跟踪误差(尤其是系统故障、强干扰导致的跟踪偏差),设计ADP算法产生补偿控制来进一步优化姿态控制系统的跟踪性能。仿真验证表明,即使存在外部干扰和执行机构故障的情况下,所提方法仍能保证系统稳定且精确跟踪指令信号。

This paper investigates the problem of attitude control for the launch vehicle with actuator faults.An Adaptive Dynamic Programming(ADP)based intelligent fault-tolerant control scheme is developed,which mainly includes two parts:the stable control part and optimization supplementary part.For the stable control part,the adaptive control technology and the sliding mode variable structure control are used to maintain stability of the fault-tolerant controller,so as to guarantee the stalibilty of the close-loop system and finite-time convergence of the tracking errors.An optimization supplementary controller with the actor-critic structure is also designed to further improve the attitude tracking performance and provide additional compensation control according to the tracking errors caused by actuator faults or external disturbances.The simulation results show that the proposed method can ensure the system stablility and accurate tacking of commands even when there exist malfunctions.