Active finite-time disturbance rejection control for attitude tracking of quad-rotor under input saturation

2020 ◽  
Vol 357 (16) ◽  
pp. 11153-11170 ◽  
Author(s):  
Jun Zhou ◽  
Yingying Cheng ◽  
Haibo Du ◽  
Di Wu ◽  
Min Zhu ◽  
...  
Keyword(s):  
Finite Time ◽  
Disturbance Rejection ◽  
Input Saturation ◽  
Disturbance Rejection Control ◽  
Attitude Tracking

scholarly journals Robust Observer Based Disturbance Rejection Control for Euler-Lagrange Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Yanjun Zhang ◽  
Lu Wang ◽  
Jun Zhang ◽  
Jianbo Su
Keyword(s):  
Robust Stability ◽  
Disturbance Rejection ◽  
Feedback Linearization ◽  
Parameters Optimization ◽  
Nonlinear Dynamic Model ◽  
Outer Loop ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Disturbance Rejection Control ◽  
Attitude Tracking

Robust disturbance rejection control methodology is proposed for Euler-Lagrange systems, and parameters optimization strategy for the observer is explored. First, the observer based disturbance rejection methodology is analyzed, based on which the disturbance rejection paradigm is proposed. Thus, a disturbance observer (DOB) with partial feedback linearization and a low-pass filter is proposed for nonlinear dynamic model under relaxed restrictions of the generalized disturbance. Then, the outer-loop backstepping controller is designed for desired tracking performance. Considering that the parameters of DOB cannot be obtained directly based on Lyapunov stability analysis, parameter of DOB is optimized under standardH∞control framework. By analyzing the influence of outer-loop controller on the inner-loop observer parameter, robust stability constraint is proposed to guarantee the robust stability of the closed-loop system. Experiment on attitude tracking of an aircraft is carried out to show the effectiveness of the proposed control strategy.

Robust spacecraft attitude tracking control with integral terminal sliding mode surface considering input saturation

2018 ◽  
Vol 41 (2) ◽  
pp. 405-416 ◽  
Author(s):  
Haitao Chen ◽  
Shenmin Song ◽  
Xuehui Li
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Input Saturation ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Modeling Uncertainty ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This paper studies the finite time spacecraft attitude tracking control problem, while considering modeling uncertainty, external disturbances and control input saturation. A novel integral terminal sliding mode surface (ITSMS) is designed by combining the fast terminal sliding mode surface (FTSMS) with a low pass filter to achieve a fast finite time convergence rate for the control system, without input singularity. An auxiliary signal is used to compensate for the effects of actuator saturation. The basic controller is first formulated based on the ITSMS, fast-TSM-type reaching law and auxiliary system, in the presence of an external disturbance and input saturation. Then, an adaptive control procedure is introduced, which simultaneously handles modeling uncertainty and external disturbance, thereby creating an adaptive attitude tracking controller. The proposed controller provides a fast finite time convergence rate for the control system, based on the newly designed ITSMS, while simultaneously compensating for modeling uncertainty, external disturbances and input saturation, without restricting the parameter selection process nor requiring repeated differentiation of nonlinear functions. Finally, digital simulation results are presented and demonstrate the effectiveness of the proposed controllers.

Output Feedback Attitude Tracking for Spacecraft Under Control Saturation and Disturbance

2015 ◽  
Vol 138 (1) ◽  
Author(s):  
Qinglei Hu ◽  
Boyan Jiang ◽  
Youmin Zhang
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
External Disturbance ◽  
Input Saturation ◽  
Control Input ◽  
Time Stability ◽  
Finite Time Stability ◽  
Output Feedback Controller ◽  
Attitude Tracking ◽  
Control Saturation

This paper proposes a class of velocity-free attitude stable controller using a novel finite-time observer for spacecraft attitude tracking, which explicitly takes into account control input saturation to assure fast and accurate response and to achieve effective compensation to the effect of external disturbance as well. First, a novel semiglobal finite-time convergent observer is proposed to estimate the angular velocity in a finite-time under external disturbance. Then, a simple global output feedback controller is proposed by adoption of the designed finite-time observer. Rigorous proofs show that the proposed observer can achieve the finite-time stability and the controller rigorously enforces actuator magnitude constraints. Numerical simulations illustrate the spacecraft performance obtained using the proposed controller.

Adaptive Finite-Time Control for Attitude Tracking of Spacecraft under Input Saturation

2018 ◽  
Vol 31 (2) ◽  
pp. 04017086 ◽  
Author(s):  
Yong Guo ◽  
Bing Huang ◽  
Shuo Wang ◽  
Ai-jun Li ◽  
Chang-qing Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Time Control ◽  
Attitude Tracking
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