基于自适应滑模的重复使用运载器容错控制

A novel attitude tracking control method is proposed for reusable launched vehicle(RLV) or other aircraft with external disturbance and actuator failure. Under the normal operating mode, the tracking controller acts as a continuous quaternion feedback controller. Once a fault occurs in the system, the attitude of the aircraft will stray from the reference trajectory, which causes the sliding mode response in the control system, making the systemrobust. The asymptotically stable of the proposed control law is proved by selecting an appropriate Lyapunov function in the presence of faults. However, there is sensor noise, which makes the gain of the system increasing, causing the controller performance degradation. Aiming to solve this problem, an adaptive sliding mode control law with an adaptive parameter is designed, which makes the gain to converge to a reasonable upper bound. Finally, the RLV re-entry segment is chosen as the simulation object.The simulation result shows that the tracking error of the control system with the adaptive sliding mode component can reach the levelof 10^-4.