基于自适应混合动态规划的欠驱动航天器姿态容错控制

doi:10.7527/S1000-6893.2025.32531

Abstract

Abstract:

To address the attitude control problem of underactuated spacecraft subject to actuator faults， while simultaneously considering both tracking accuracy and control energy consumption， this paper proposes an optimal fault-tolerant control scheme based on Adaptive Hybrid Dynamic Programming （AHDP）. First， under fault-free conditions， the control design is formulated as an optimal control problem， and AHDP is employed to derive an approximate optimal control law that balances energy expenditure against tracking performance. To enable fault tolerance， an online compensation framework is developed using adaptive fault observers to separately estimate multiplicative and additive fault parameters. Subsequently， these estimates are incorporated into a compensation control law so that the faulty actuator output closely approximates nominal behavior. A Lyapunov-based stability analysis proves closed-loop robustness of the tracking error in the presence of actuator faults. Comparative simulations demonstrate that， compared with conventional fault-tolerant methods， the proposed AHDP-based controller achieves improved attitude tracking accuracy and higher fault estimation fidelity.

Key words: underactuated spacecraft, actuator faults, attitude control, Adaptive Hybrid Dynamic Programming (AHDP), fault-tolerant control, adaptive fault observer

CLC Number:

V448.2

Qie LIU, Junying LU, Fei XIE, Wenbo LI. Adaptive hybrid dynamic programming for fault-tolerant attitude control of underactuated spacecraft[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(9): 532531.

Figures/Tables 10

Fig.1

Fig.2

Fig.3

Table 1

Underactuated spacecraft model parameters

参数	数值
飞轮 $B 1$ 的旋转轴单位向量 $b 1$	$[100] T$
飞轮 $B 2$ 的旋转轴单位向量 $b 2$	$[010] T$
航天器载体的质量 $m 0 / k g$	500
飞轮 $B 1$ 的质量 $m 1 / k g$	5
飞轮 $B 2$ 的质量 $m 1 / k g$	5
航天器主体惯性张量 $I 0 / (k g ⋅ m 2)$	$d i a g (86.215, 85.07, 113.565)$
飞轮 $B 1$ 的惯性张量 $I 1 / (k g ⋅ m 2)$	$d i a g (0.5, 0.25, 0.25)$
飞轮 $B 2$ 的惯性张量 $I 2 / (k g ⋅ m 2)$	$d i a g (0.25, 0.5, 0.25)$
总质心到载体原点的矢量	$[- 0.002 - 0.002 0] T$

Table 1

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Table 2

Comparison of overall tracking performance and fault estimation performance after fault triggering

参数	本文平均绝对偏差	对比平均绝对偏差
俯仰角 $θ / r a d$	0.005 7	0.013 4
航向角 $ψ / r a d$	0.010 5	0.025 0
滚转角 $φ / r a d$	0.003 6	0.011 1
综合故障 $c 1$ $/$ $(r a d ⋅ s - 1)$	0.401 5	1.535 5
综合故障 $c 2$ $/$ $(r a d ⋅ s - 1)$	0.649 9	2.707 6

Table 2

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Adaptive hybrid dynamic programming for fault-tolerant attitude control of underactuated spacecraft

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