scholarly journals Distributed Robust Attitude Tracking of Multiple Spacecraft with Disturbances and Unmodelled Dynamics

2015 ◽  
Vol 2015 ◽  
pp. 1-7
Author(s):  
Dapeng Yang ◽  
Xiangdong Liu
Keyword(s):  
Control Algorithm ◽  
Tracking Problem ◽  
Communication Graph ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Angular Velocities ◽  
Attitude Controller ◽  
Multiple Spacecraft ◽  
The Given

This paper considers the distributed robust attitude tracking problem of multiple spacecraft subject to disturbances and unmodelled dynamics. We designed a distributed robust attitude controller for each spacecraft using the relative attitudes and relative angular velocities of neighbors to ensure that the attitude tracking errors between the leader and the followers converge to zero under the condition that the communication graph among the followers is undirected and connected and at least one follower has the access to the leader. The control algorithm achieves robust attitude tracking under the existence of the disturbances and unmodelled dynamics by selecting the control gains according to the given condition.

scholarly journals Backstepping Approach for Autonomous Mobile Robot Trajectory Tracking

2016 ◽  
Vol 2 (3) ◽  
pp. 478 ◽  
Author(s):  
Ibari Benaoumeur ◽  
Benchikh Laredj ◽  
Hanifi Elhachimi Amar Reda ◽  
Ahmed-foitih Zoubir
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Controller Design ◽  
Tracking Errors ◽  
Robust Controller ◽  
Output Tracking ◽  
Robot Trajectory ◽  
Tracking Controller ◽  
Angular Velocities ◽  
The Given

This paper proposes a backstepping controller design for trajectory tracking of unicycle-type mobile robots. The main object of the control algorithms developed is to design a robust output tracking controller. The design of the controller is based on the lyapunov theorem, kinematic tracking controller of an unicycle-like mobile robot is used to provides the desired values of the linear and angular velocities for the given trajectory. A Lyapunov-based stability analysis is presented to guarantee the robot stability of the tracking errors. Simulation and experimental results show the effectiveness of the proposed robust controller in term of accuracy and stability under different load conditions.

scholarly journals Distributed Back-Stepping Consensus Protocol for Attitude Synchronization and Tracking on Undirected Graphs

2019 ◽  
Vol 07 (01) ◽  
pp. 25-32 ◽  
Author(s):  
Yuanjin Yu ◽  
Zhenhong Li ◽  
Zhaohua Yang ◽  
Zhengtao Ding
Keyword(s):  
Tracking Error ◽  
Tracking Problem ◽  
Lyapunov Theorem ◽  
Consensus Protocol ◽  
Attitude Tracking ◽  
Leader Following ◽  
Error Dynamics ◽  
Multiple Spacecraft ◽  
Quaternion Representation ◽  
Attitude Synchronization

This paper investigates the attitude synchronization and tracking problem for multiple spacecraft with an arbitrary differentiable reference. Considering the reference as a leader, the attitude synchronization and tracking problem is then transformed into a leader-following problem. Based on the quaternion representation of the attitude, the attitude tracking error dynamics and kinematics are derived. Treating the dynamics and kinematics as two cascaded subsystems, a back-stepping consensus protocol is designed, and its stability is analyzed using Lyapunov theorem. The proposed protocol is fully distributed since only the local and neighboring information are used. Finally, numerical simulations are performed to verify the effectiveness of the proposed protocol.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

Power Spectra Density Replication Control Strategy for 2-Axis Hydraulic Shaker Based on HV Estimator

2014 ◽  
Vol 596 ◽  
pp. 610-615
Author(s):  
Yu Chen ◽  
Qiang Li Luan ◽  
Zhang Wei Chen ◽  
Hui Nong He
Keyword(s):  
Response Function ◽  
Control Algorithm ◽  
Power Spectra ◽  
Time History ◽  
Good Effect ◽  
System Response ◽  
Power Spectral ◽  
Iterative Correction ◽  
Replication Control ◽  
The Given

Hydraulic shaker, equipment of simulating laboratory vibration environment, can accurately replicate the given power spectral density (PSD) and time history with an appropriate control algorithm. By studying method Hv estimator of frequency response function (FRF) estimation, a FRF identification strategy based on the Hv estimator is designed to increase the convergence rapidity and improve the system response function specialty. The system amplitude-frequency characteristics in some frequency points or frequency bands have large fluctuation. To solve this issue, a step-varying and frequency-sectioning iterative correction control algorithm is proposed for the control of 2-axial exciter PSD replication tests and the results show that the algorithm has a good effect on the control of hydraulic shaker, and can achieve reliable and high-precision PSD replication.

Flight Control System Design and Autonomous Flight Control of Small-Scale Unmanned Helicopter Based on Nanosensors

2021 ◽  
Vol 16 (4) ◽  
pp. 675-688
Author(s):  
Xinfan Yin ◽  
Xianmin Peng ◽  
Guichuan Zhang ◽  
Binghui Che ◽  
Chang Wang
Keyword(s):  
Control System ◽  
Flight Control ◽  
Control Algorithm ◽  
Installation Space ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Flight Control System ◽  
Autonomous Flight ◽  
Position Controller ◽  
Attitude Controller

Due to the limitation of the size and power, micro unmanned aerial vehicle (MUAV) usually has a small load capacity. Aiming at the problems of limited installation space and easy being interfered in flight attitude measurement of the small-scale unmanned helicopter (SUH), a low-cost and lightweight flight control system of the SUH based on ARM Cortex-M4 core microcontroller and Micro-Electro-Mechanical Systems (MEMS) sensors is developed in this paper. On this basis, in order to realize the autonomous flight control of SUH, firstly, the mathematical model of the SUH is given by using the Newton-Euler formulation. Secondly, a cascade flight controller consisting of the attitude controller and the position controller is developed based on linear active disturbance rejection control (LADRC) and proportional-integral-derivative (PID) control. Furthermore, simulations are conducted to validate the performance of the attitude controller and the position controller in MATLAB/SIMULINK simulation environment. Finally, based on the Align T-REX 470L SUH experimental platform, the hovering experiment and the route flight experiment are also carried out to validate the performance of the designed flight control system hardware and the proposed control algorithm. The results show that the flight control system designed in this paper has high reliability and strong anti-interference ability, and the control algorithm can effectively and reliably realize the attitude stabilization control and route control of the SUH, with high control accuracy and small error.

The Improved Design of Test Machine Linear-Velocity Closed-Loop Control Circuit

2013 ◽  
Vol 365-366 ◽  
pp. 874-877
Author(s):  
Chang Hai Li ◽  
Yuan Tao Yu ◽  
Shi Yang Ma ◽  
Yan Chun Liu
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Response Speed ◽  
Test Machine ◽  
Static Error ◽  
Loop Control ◽  
Improved Design ◽  
Value Changes ◽  
The Given ◽  
Control Accuracy

Incremental PID has its shortcomings: great integral truncation effect, static error and spillover affect. In the control system, the controller system is required having a quick response speed, and also a certain anti-interference ability. When adopting the improved differential PID control algorithm, only the output differential is made, instead of the given values. So, when a given value changes, the output will not change, and the controlled quantity change is usually mild, in which case the control accuracy is improved, and the system dynamic characteristics is greatly improved.

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