为解决编队系统存在的参数模型变动范围不可预测、执行器部分失效等问题，设计提出了一种自适应鲁棒容错编队控制方法。给出航天器相对位置非线性动力学模型，设计了自适应鲁棒容错控制器，并且分别设计自适应律估计故障大小、质量和外界扰动上界，同时分析了闭环系统的Lyapunov稳定性，给出系统稳定所需要的条件。数值仿真结果表明，提出的控制方法能实现编队跟踪控制的目标，位置跟踪稳态误差小于1.5×10-3m，速度跟踪稳态误差小于1.8×10-5m，验证了所提出方法的有效性。

An adaptive, robust, fault-tolerant formation control approach is proposed to address the challenges of actuator faults, parameter uncertainty, external disturbances, and communication delays within a formation system. The nonlinear dynamics model of spacecraft relative positions is presented. The adaptive robust fault-tolerant controller is designed with bounded input, and adaptive laws are developed to estimate the values of actuator faults, mass, and upper bound of external disturbances, respectively. Additionally, the Lyapunov stability of the closed-loop system is analyzed, and the necessary conditions to ensure system stability are provided. Numerical simulation results show that the presented control method enables effective formation tracking control, with steady state error of location tracking is less than 1.5×10^-3 m and steady state error of velocity tracking is less than 1.8×10^-5 m, validating the effectiveness of the proposed method.

国家自然科学基金面上资助项目（62373104，62272070）。