Abstract: This paper investigates an adaptive attitude tracking fault-tolerant control problem for non-rigid spacecraft with unknown time-varying inertia, actuator fading and external disturbance. Based on nonlinear robust control, adaptive approach, fault-tolerant control theory and parameter estimation method, a novel robust adaptive attitude tracking fault-tolerant control law is proposed. The proposed controller overcomes the influence of actuator fault, inertia uncertainty and external disturbance. And, it can regulate the attitude and angular velocity to the desired states and guarantee that the ultimately uniform and bounded stability of the error system is achieved. Simulation results validate the effectiveness of the presented control algorithm and demonstrate the better performance of designed control approach compared with other method.

Key words: unknown time-varying inertia, actuator fading, external disturbance, non-rigid spacecraft, adaptive fault-tolerant control

摘要： 针对存在未知时变惯量不确定性、执行机构衰退故障和外部干扰力矩的非刚体航天器系统，研究了航天器自适应姿态跟踪容错控制问题，结合非线性鲁棒控制方法、自适应方法、容错控制理论和参数估计方法，提出了一种鲁棒自适应姿态跟踪容错控制器。所设计的控制器克服了执行器故障、惯量不确定性以及外界干扰对系统稳定性的影响，保证了航天器姿态及角速度能够跟踪上时变的期望状态，实现了跟踪误差系统最终一致有界稳定。最后通过数字仿真验证了所提方法的有效性，并且与已有方法进行了对比，说明了所提方法的优越性。

关键词: 未知时变惯量, 执行机构衰退, 外界干扰, 非刚体航天器, 自适应容错控制