Distributed Finite-Time Coordination Control for 6DOF Spacecraft Formation Using Nonsingular Terminal Sliding Mode

Attitude Tracking

Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is effective, leading to promising performance and robustness. Originality/value – By the proposed controller, the second-order sliding mode is established. The attitude tracking error converges to zero in a finite time. Meanwhile, the chattering is alleviated and a smooth control input is obtained.

Nonsingular Terminal Sliding Mode Based Trajectory Tracking Control of an Autonomous Surface Vehicle with Finite-Time Convergence

Advances in Neural Networks - ISNN 2017 - Lecture Notes in Computer Science ◽

10.1007/978-3-319-59081-3_11 ◽

2017 ◽

pp. 83-92 ◽

Cited By ~ 1

Author(s):

Shuailin Lv ◽

Ning Wang ◽

Yong Wang ◽

Jianchuan Yin ◽

Meng Joo Er

Keyword(s):

Trajectory Tracking ◽

Finite Time ◽

Tracking Control ◽

Sliding Mode ◽

Trajectory Tracking Control ◽

Terminal Sliding Mode ◽

Finite Time Convergence ◽

Autonomous Surface Vehicle ◽

Fractional-order nonsingular terminal sliding mode control via a disturbance observer for a class of nonlinear systems with mismatched disturbances

Journal of Vibration and Control ◽

10.1177/1077546320925263 ◽

2020 ◽

pp. 107754632092526

Author(s):

Amir Razzaghian ◽

Reihaneh Kardehi Moghaddam ◽

Naser Pariz

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Fractional Order ◽

Finite Time ◽

Disturbance Observer ◽

Sliding Mode ◽

Sliding Mode Controller ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

This study investigates a novel fractional-order nonsingular terminal sliding mode controller via a finite-time disturbance observer for a class of mismatched uncertain nonlinear systems. For this purpose, a finite-time disturbance observer–based fractional-order nonsingular terminal sliding surface is proposed, and the corresponding control law is designed using the Lyapunov stability theory to satisfy the sliding condition in finite time. The proposed fractional-order nonsingular terminal sliding mode control based on a finite-time disturbance observer exhibits better control performance; guarantees finite-time convergence, robust stability of the closed-loop system, and mismatched disturbance rejection; and alleviates the chattering problem. Finally, the effectiveness of the proposed fractional-order robust controller is illustrated via simulation results of both the numerical and application examples which are compared with the fractional-order nonsingular terminal sliding mode controller, sliding mode controller based on a disturbance observer, and integral sliding mode controller methods.

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

A novel adaptive second-order nonsingular terminal sliding mode guidance law design

10.1177/0954410020926769 ◽

2020 ◽

Vol 234 (16) ◽

pp. 2263-2273

Author(s):

Shuai Xu ◽

Min Gao ◽

Dan Fang ◽

Yi Wang ◽

Baochen Li

Keyword(s):

Finite Time ◽

Sliding Mode ◽

Initial Conditions ◽

Dynamic Control ◽

Small Neighborhood ◽

Lyapunov Stability Theory ◽

Second Order ◽

Terminal Sliding Mode ◽

Guidance Law ◽

Aiming at the problem of missile attacking ground target in pitch plane, combined with a composite fast nonsingular terminal sliding mode, a new adaptive finite-time stable guidance law with attack angle constraint is designed based on the second-order sliding mode control. The improved extended state observer is used to estimate the uncertainties and compensate the control quantity, and the dynamic control gains are designed to avoid the problem about “excessive estimation” of the parameter upper limit. According to the Lyapunov stability theory, it is proved that the system states can converge into a small neighborhood near the equilibrium point in a finite time. Monte Carlo simulation is carried out by randomly generating initial conditions, which proves that the guidance law has strong adaptability to different initial conditions and has good guidance precision.

Finite-time sliding mode control for a 3-DOF fully actuated autonomous surface vehicle

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220957516 ◽

2020 ◽

pp. 014233122095751

Author(s):

Ali Abooee ◽

Mohammad Hayeri Mehrizi ◽

Mohammad Mehdi Arefi ◽

Shen Yin

Keyword(s):

Robust Control ◽

Sliding Mode Control ◽

Finite Time ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Mode Control ◽

Autonomous Surface Vehicle ◽

Control Schemes ◽

Computer Based

This paper deals with the finite-time trajectory tracking problem for a typical 3-DOF (degree of freedom) autonomous surface vehicle (ASV) subjected to parametric uncertainties and environmental disturbances. Based on the nonsingular terminal sliding mode control (NTSMC) method, several separate classes of robust control inputs are designed to exactly steer all position states of the 3-DOF AVS to the desired paths during alterable finite times. By exploiting the Lyapunov stability theorem and using mathematical analysis, it is proven that all classes of designed robust control inputs are able to fulfill the mentioned finite-time tracking aim. Moreover, three applicable formulas (represented as several nonlinear inequalities) are extracted to determine the required total finite times for the suggested control schemes. Lastly, all designed control methods are numerically tested onto a benchmark 3-DOF AVS called CyberShip II. Provided computer-based numerical simulations (using MATLAB software) depicted the acceptable performance of the proposed control techniques.

Distributed Finite-Time Coordinated Attitude Tracking Control for Multiple Spacecraft with Actuator Saturation

Journal of Circuits System and Computers ◽

10.1142/s0218126620502126 ◽

2020 ◽

Vol 29 (13) ◽

pp. 2050212

Author(s):

Zhi Gao ◽

Zhihao Zhu ◽

Yu Guo

Keyword(s):

Finite Time ◽

Tracking Control ◽

Actuator Saturation ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Mode Function ◽

Attitude Tracking ◽

Multiple Spacecraft ◽

Attitude Tracking Control

For multi-spacecraft with actuator saturation, inertia uncertainties and external disturbances, a distributed finite-time coordinated attitude tracking control problem for the spacecraft with the communication topology containing fewer information paths is investigated. Aiming at reducing the communication path, a class of distributed finite-time state observers is designed. To speed up the convergence rate of the multiple spacecraft system, a fast nonsingular terminal sliding mode function is proposed. Moreover, an adaptive control term is proposed to suppress the impact of the external state-dependent disturbances and unknown time-varying inertia uncertainties. Further considering the actuator saturation owing to its physical limitations, a saturation function is designed. With the distributed finite-time observers, the fast nonsingular terminal sliding mode function, the adaptive update law and the saturation function, a distributed finite-time coordinated attitude tracking saturation controller is designed. Using the proposed controller, the follower can synchronize with the common leader with time-varying trajectory in finite time. Simulation results demonstrate the effectiveness of the designed controller.

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

10.1177/0954410016671539 ◽

2016 ◽

Vol 232 (1) ◽

pp. 96-110 ◽

Cited By ~ 4

Author(s):

Cheng Huang ◽

Yan Wang ◽

Xing-lin Chen

Keyword(s):

Finite Time ◽

Tracking Control ◽

Sliding Mode ◽

External Disturbances ◽

Terminal Sliding Mode ◽

Finite Time Stability ◽

Attitude Tracking ◽

Attitude Tracking Control ◽

Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

A novel adaptive finite-time tracking control for robotic manipulators using nonsingular terminal sliding mode and RBF neural networks

International Journal of Precision Engineering and Manufacturing ◽

10.1007/s12541-016-0105-x ◽

2016 ◽

Vol 17 (7) ◽

pp. 863-870 ◽

Cited By ~ 15

Author(s):

Minh-Duc Tran ◽

Hee-Jun Kang

Keyword(s):

Neural Networks ◽

Finite Time ◽

Tracking Control ◽

Sliding Mode ◽

Robotic Manipulators ◽

Rbf Neural Networks ◽

Terminal Sliding Mode ◽

Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

The Scientific World JOURNAL ◽

10.1155/2014/838019 ◽

2014 ◽

Vol 2014 ◽

pp. 1-19 ◽

Cited By ~ 3

Author(s):

Yaoyao Wang ◽

Jiawang Chen ◽

Linyi Gu

Keyword(s):

Sliding Mode Control ◽

Fractional Order ◽

Output Feedback ◽

Finite Time ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Remotely Operated Vehicles ◽

Terminal Sliding Mode ◽

Mode Control ◽

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

Disturbance observer-based fault-tolerant attitude tracking control for rigid spacecraft with finite-time convergence

10.1177/0954410017740918 ◽

2017 ◽

Vol 233 (2) ◽

pp. 616-628 ◽

Cited By ~ 2

Author(s):

Qun Zong ◽

Xiuyun Zhang ◽

Shikai Shao ◽

Bailing Tian ◽

Wenjing Liu

Keyword(s):

Finite Time ◽

Tracking Control ◽

Disturbance Observer ◽

Fault Tolerant ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Attitude Tracking ◽

Rigid Spacecraft ◽

Attitude Tracking Control

In this paper, finite-time fault-tolerant attitude tracking control is investigated for rigid spacecraft system with external disturbances, inertia uncertainties and actuator faults. A novel finite-time disturbance observer combined with a nonsingular terminal sliding mode controller is developed. Using an equivalent output error injection approach, a finite-time disturbance observer with simple structure is firstly designed to estimate lumped uncertainty. Then, to remove the requirement of prior knowledge about lumped uncertainty and reduce chattering, an adaptive finite-time disturbance observer is further proposed, and the estimations converge to the neighborhood of the true values. Based on the designed observer, a unified finite-time attitude controller is obtained automatically. Finally, both additive and multiplicative faults are considered for simulations and the results illustrate the great fault-tolerant capability of the proposed scheme.