Journal
2019 12TH ASIAN CONTROL CONFERENCE (ASCC)
Volume -, Issue -, Pages 1478-1482Publisher
IEEE
Keywords
Attitude control; Fault-tolerant; Reconfigurability; Nonlinear systems
Categories
Funding
- National Natural Science Foundation of China [61622304, 61773201]
- Natural Science Foundation of Jiangsu province [BK20160035]
- Fundamental Research Funds for the Central Universities [NE2014202, NE2015002]
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In this paper, attitude control reconfigurability of a four pyramid-type actuators spacecraft is analyzed in different actuator faults cases based on the controllability theory. The results of controllability and small-time local controllability (STLC) of the faulty system are proven by Lie algebra and convex theory. A time index is introduced based on the optimal control theory to evaluate the speed of reconfiguration in gimbal faults cases. The condition that guarantees the reconfigurability of the system is obtained with the controllability of the faulty system, which implies that the system is always reconfigurable when there is at least one actuator working even with partial failure. Moreover, our results indicate that the failures of rotors influence the STLC of the system while the failures of gimbals degrade the speed of attitude adjustment.
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