A Hybrid Scheme of Synthesized Sliding Mode/Strain Rate Feedback Control Design for Flexible Spacecraft Attitude Maneuver Using Time Scale Decomposition

2016 ◽  
Vol 16 (02) ◽  
pp. 1450101 ◽  
Author(s):  
Morteza Shahravi ◽  
Milad Azimi
Keyword(s):  
Strain Rate ◽  
Sliding Mode ◽  
Large Angle ◽  
Flexible Spacecraft ◽  
Singular Perturbation Theory ◽  
Control Approach ◽  
Rate Feedback ◽  
Attitude Maneuver ◽  
Flexible Body Dynamics ◽  
Parameter Interactions

Presented herein is a new control approach for large angle attitude maneuver of flexible spacecraft. The singular perturbation theory (SPT) provides a useful tool for two time rate scale separation (mapping) of rigid and flexible body dynamics. The resulting slow and fast subsystems, enabling the use of two control approach for attitude (Modified Sliding Mode) and vibration Strain Rate Feedback (SRF) control of flexible spacecraft, respectively. An attractive feature of the present control approach is that the global stability of the entire system has been guaranteed while the controllers accomplished their tasks in coupled rigid/flexible dynamic domain without parasitic parameter interactions. Numerical simulations show the effectiveness of the present approach.

Robust Control of Flexible Spacecraft During Large-Angle Attitude Maneuver

2014 ◽  
Vol 37 (3) ◽  
pp. 1027-1033 ◽  
Author(s):  
Ya’nan Yu ◽  
Xiuyun Meng ◽  
Keyong Li ◽  
Fenfen Xiong
Keyword(s):  
Robust Control ◽  
Large Angle ◽  
Flexible Spacecraft ◽  
Attitude Maneuver

scholarly journals Finite-Time Controller for Flexible Satellite Attitude Fast and Large-Angle Maneuver

Symmetry ◽  
2021 ◽  
Vol 14 (1) ◽  
pp. 45
Author(s):  
You Li ◽  
Haizhao Liang ◽  
Lei Xing
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Large Angle ◽  
System Stability ◽  
Satellite Attitude ◽  
Attitude Maneuver ◽  
Mode Parameter ◽  
Mode Method ◽  
Dynamic Sliding Mode ◽  
Flexible Appendages

In order to deal with the fast, large-angle attitude maneuver with flexible appendages, a finite-time attitude controller is proposed in this paper. The finite-time sliding mode is constructed by implementing the dynamic sliding mode method; the sliding mode parameter is constructed to be time-varying; hence, the system could have a better convergence rate. The updated law of the sliding mode parameter is designed, and the performance of the standard sliding mode is largely improved; meanwhile, the inherent robustness could be maintained. In order to ensure the system’s state could converge along the proposed sliding mode, a finite-time controller is designed, and an auxiliary term is designed to deal with the torque caused by flexible vibration; hence, the vibration caused by flexible appendages could be suppressed. System stability is analyzed by the Lyapunov method, and the superiority of the proposed controller is demonstrated by numerical simulation.

scholarly journals Chattering-Suppressed Sliding Mode Control for Flexible-Joint Robot Manipulators

Actuators ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 288
Author(s):  
Xin Cheng ◽  
Huashan Liu ◽  
Wenke Lu
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Dynamic Performance ◽  
Singular Perturbation Theory ◽  
External Disturbances ◽  
Flexible Joint ◽  
Control Approach ◽  
Control Objective ◽  
Saturation Factor

In this paper, sliding mode tracking control and its chattering suppression method are investigated for flexible-joint robot manipulators with only state measurements of joint actuators. First, within the framework of singular perturbation theory, the control objective of the system is decoupled into two typical tracking aims of a slow subsystem and a fast subsystem. Then, considering lumped uncertainties (including dynamics uncertainties and external disturbances), a composite chattering-suppressed sliding mode controller is proposed, where a smooth-saturation-function-contained reaching law with adjustable saturation factor is designed to alleviate the inherent chattering phenomenon, and a radial basis function neural network (RBFNN)-based soft computing strategy is applied to avoid the high switching gain that leads to chattering amplification. Simultaneously, an efficient extended Kalman filter (EKF) with respect to a new state variable is presented to enable the closed-loop tracking control with neither position nor velocity measurements of links. In addition, an overall analysis on the asymptotic stability of the whole control system is given. Finally, numerical examples verify the superiority of the dynamic performance of the proposed control approach, which is well qualified to suppress the chattering and can effectively eliminate the undesirable effects of the lumped uncertainties with a smaller switching gain reduced by 80% in comparison to that in the controller without RBFNN. The computational efficiency of the proposed EKF increased by about 26%.

Attitude Maneuver Control of Flexible Spacecraft with Finite-Time Convergence

2012 ◽  
Vol 157-158 ◽  
pp. 847-851
Author(s):  
Shu Nan Wu ◽  
Zhao Wei Sun ◽  
Xian De Wu
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Flexible Spacecraft ◽  
Terminal Sliding Mode Control ◽  
Singularity Problem ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Attitude Maneuver ◽  
Sliding Mode Controllers

The attitude maneuver control of flexible spacecraft with finite-time convergence is investigated in this paper. Two terminal sliding mode controllers are proposed to achieve the finite-time control, which guarantee the convergence of attitude maneuver errors in finite time. The singularity problem associated with the terminal sliding mode control is solved by employing a new sliding variable. Numerical simulations are finally provided to illustrate the performance of the proposed controllers.

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