Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

2018 ◽  
Vol 143 ◽  
pp. 133-146 ◽  
Author(s):  
Lu Cao ◽  
Dong Qiao ◽  
Jingwen Xu
Keyword(s):  
Sliding Mode Control ◽  
Potential Function ◽  
Obstacle Avoidance ◽  
Sliding Mode ◽  
Mode Control ◽  
Artificial Potential Function

Circular Leader-Follower Formation Control of Quad-Rotor Aerial Vehicles

2013 ◽  
Vol 25 (1) ◽  
pp. 60-71 ◽  
Author(s):  
Mohammad Fadhil Bin Abas ◽  
◽  
Dwi Pebrianti ◽  
Syaril Azrad Md. Ali ◽  
Daisuke Iwakura ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Circular Motion ◽  
Experimental Result ◽  
Distance Error ◽  
Mode Control ◽  
Aerial Vehicles

This paper describes the leader-follower formation control using two different approaches which are the PID leader-follower formation control (PID-LFFC) and Sliding Mode Control leader-follower formation control (SMC-LFFC). The strategy used in this paper is to apply the control algorithm for conducting a circular motion. This task is known to be important since a trajectory is a combination of movement. This movement can be divided into straight or curve lines. Curves lines or circular motion is essential for obstacle avoidance and also for turning movement. The curves lines or circular motion gives lower trajectory distance than only using straight or angled lines. Based on the experimental result, it is seen that the performance of the algorithm is reliable. When using SMC-LFFC over the PID-LFFC, the leader to follower distance error is 30% smaller and has a high 70% occurrence at 0 errors. Additionally, this research is known to be the first conducted in Japan.

scholarly journals Novel Gaussian mixture model based nonsingular terminal sliding mode control for spacecraft close-range proximity with complex shape obstacle

2021 ◽  
pp. 095441002110161
Author(s):  
Yi Wang ◽  
Wen Yao ◽  
Xiaoqian Chen ◽  
Matteo Ceriotti ◽  
Yuzhu Bai ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Potential Function ◽  
Complex Shape ◽  
Sliding Mode ◽  
Gaussian Mixture ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Close Range

This study is mainly focusing on the problem of spacecraft close-range proximity with obstacle avoidance in the presence of complex shape. A novel Gaussian mixture model–based nonsingular terminal sliding mode control (GMM-NTSMC) is proposed. This is achieved by developing GMM-based potential function with a switching surface of NTSMC. It is theoretically proved that the closed-loop system is globally stable. The main contribution of this study is that the GMM-based avoiding strategies, which include the GMM-based terminal sliding mode control (GMM-TSMC) and GMM-NTSMC, can solve the collision avoidance problem considering complex shape while the artificial potential function–based terminal sliding model control (APF-TSMC) fails. Moreover, the GMM-NTSMC and the GMM-TSMC require less energy with respect to the APF-TSMC. Furthermore, the GMM-NTSMC retains the advantage of the NTSMC and can avoid singularity problem while GMM-TSMC cannot. Finally, numerical simulations are performed to verify the effectiveness and superiority of the proposed GMM-NTSMC.

Sliding-mode control and sonnar based bubble rebound obstacle avoidance for a WMR

2015 ◽  
Author(s):  
Adrian Filipescu ◽  
Bogdan Dumitrascu ◽  
Adriana Filipescu ◽  
George Ciubucciu ◽  
Eugenia Minca ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Sliding Mode ◽  
Mode Control

scholarly journals Coordinated Control of Multiple Euler–Lagrange Systems for Escorting Missions with Obstacle Avoidance

2019 ◽  
Vol 9 (19) ◽  
pp. 4144
Author(s):  
Song Gao ◽  
Rui Song ◽  
Yibin Li
Keyword(s):  
Sliding Mode Control ◽  
Obstacle Avoidance ◽  
Sliding Mode ◽  
Null Space ◽  
Dimensional Space ◽  
Coordinated Control ◽  
Adaptive Sliding Mode Control ◽  
Stability And Convergence ◽  
Loop Control ◽  
Mode Control

This study investigates the coordinated control problem of Euler–Lagrange systems with model uncertainties in environments containing obstacles when escorting a target. Using an outer–inner loop control structure, a null-space-based behavioral (NSB) control architecture was proposed in the outer loop considering obstacles. This architecture generates the desired velocity for the inner loop. The adaptive proportional derivative sliding mode control (APD-SMC) law was applied to the inner loop to ensure fast convergence and robustness. All the robots were distributed around the target evenly and escorted the target at a specified distance while avoiding obstacles in a p − dimensional space (where p ≥ 2 is a positive integer). Stability and convergence analyses were conducted rigorously using a Lyapunov-based approach. The simulation results of three scenarios verified the effectiveness and high-precision performance of the proposed control algorithm compared to that of the adaptive sliding mode control (ASMC) in both two-dimensional and three-dimensional space. It is shown that all the robots can move into appropriate positions on the surface of a sphere/circle during an escort mission and reconfigure the formation automatically when an obstacle avoidance mission is active.

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