Partial stabilization of underactuated post-capture combination with inaccurate measurement information and unknown disturbances

2017 ◽  
Vol 40 (13) ◽  
pp. 3625-3639 ◽  
Author(s):  
Shiyu Chen ◽  
Jianping Yuan ◽  
Zheng Wang ◽  
Zhanxia Zhu
Keyword(s):  
Numerical Simulations ◽  
Sliding Mode ◽  
Measurement Information ◽  
Sliding Mode Controller ◽  
Attitude Dynamics ◽  
Additional Consideration ◽  
External Disturbances ◽  
Attitude Stabilization ◽  
Adaptive Sliding Mode Controller ◽  
Unknown Disturbances

This paper aims to address the attitude stabilization issue of post-capture combination with underactuated actuators, measurement inaccuracy and unknown external disturbances during on-orbit servicing. A precise and practical form of underactuated attitude dynamics is proposed for the asymmetric combination with two control torques. With the adopted partial stabilization strategy, a sliding mode controller is first proposed to achieve partial stabilization of the combination against the effect of unknown external disturbances. Through the additional consideration of the measurement inaccuracy in the inertia tensor and the mass centroid, an underactuated adaptive sliding mode controller with compensation laws is proposed in presence of uncertainties and disturbances. Numerical simulations validate the effectiveness of proposed partial attitude stabilization controllers.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

An adaptive sliding mode controller with a new reaching law for tracking problem of an autonomous underwater vehicles

2018 ◽  
Vol 41 (6) ◽  
pp. 1772-1787 ◽  
Author(s):  
Mohammad Reza Ramezani-al ◽  
Zahra Tavanaei-Sereshki
Keyword(s):  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
External Disturbance ◽  
Underwater Vehicles ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Reaching Law ◽  
Adaptive Sliding Mode Controller ◽  
Highly Nonlinear

Since autonomous underwater vehicles (AUVs) have highly nonlinear dynamics, the employed controller in these systems must be accurate and robust against noise and uncertainties. Sliding Mode Controller is very robust against both the parameters changing and external disturbance. But, there are some major drawbacks of these controllers such as chattering and high vulnerability against noise. In this paper, by modifying the reaching law and using an adaptive gain in the proposed sliding mode controller, these problems are eliminated from the input signal of the system. In the presented reaching law, a continuous term is used instead of the discrete sign function as well as the velocity term is entered in the reaching law. Since there are external disturbances, noises and uncertainties in the system dynamics and modeling, the states may be separated from the surface. Since the reaching law acts when the states separate from the sliding surface, then the gain of reaching law is adapted according to the uncertainties, states error and velocity. Also, the upper bound of disturbance and uncertainty are estimated. Furthermore, the reaching condition and limitation of the switching variable rate for the proposed controller are investigated. Finally, stability and convergence of the closed-loop system are proven analytically using the Lyapunov stability theorem. Some simulations and comparisons with other methods show efficiency of the presented method.

scholarly journals Adaptive Sliding Mode Controller Design for Projective Synchronization of Different Chaotic Systems with Uncertain Terms and External Bounded Disturbances

2013 ◽  
Vol 2013 ◽  
pp. 1-10
Author(s):  
Shijian Cang ◽  
Zenghui Wang ◽  
Zengqiang Chen
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Projective Synchronization ◽  
Sliding Mode Controller ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Adaptive Sliding Mode ◽  
Response System ◽  
Adaptive Sliding Mode Controller

Synchronization is very useful in many science and engineering areas. In practical application, it is general that there are unknown parameters, uncertain terms, and bounded external disturbances in the response system. In this paper, an adaptive sliding mode controller is proposed to realize the projective synchronization of two different dynamical systems with fully unknown parameters, uncertain terms, and bounded external disturbances. Based on the Lyapunov stability theory, it is proven that the proposed control scheme can make two different systems (driving system and response system) be globally asymptotically synchronized. The adaptive global projective synchronization of the Lorenz system and the Lü system is taken as an illustrative example to show the effectiveness of this proposed control method.

scholarly journals Design of RBF Adaptive Sliding Mode Controller for A Supercavitating Vehicle

IEEE Access ◽  
2021 ◽  
Vol 9 ◽  
pp. 39873-39883
Author(s):  
Wang Jinghua ◽  
Liu Yang ◽  
Cao Guohua ◽  
Zhao Yongyong ◽  
Zhang Jiafeng
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Supercavitating Vehicle

Impact analysis and adaptive sliding mode control for cislunar payload transportation using spinning tether system

2018 ◽  
Vol 90 (8) ◽  
pp. 1168-1179 ◽  
Author(s):  
Hongshi Lu ◽  
Li Aijun ◽  
Wang Changqing ◽  
Zabolotnov Michaelovitch Yuriy
Keyword(s):  
Impact Analysis ◽  
Sliding Mode ◽  
Mass Parameter ◽  
Sliding Mode Controller ◽  
Content Type ◽  
Loop Control ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Payload Mass ◽  
Spinning Tether

Purpose This paper aims to present the impact analysis of payload rendezvous with tethered satellite system and the design of an adaptive sliding mode controller which can deal with mass parameter uncertainty of targeted payload, so that the proposed cislunar transportation scheme with spinning tether system could be extended to a wider and more practical range. Design/methodology/approach In this work, dynamical model is first derived based on Langrangian equations to describe the motion of a spinning tether system in an arbitrary Keplerian orbit, which takes the mass of spacecraft, tether and payload into account. Orbital design and optimal open-loop control for the payload tossed by the spinning tether system are then presented. The real payload rendezvous impact around docking point is also analyzed. Based on reference acceleration trajectory given by optimal theories, a sliding mode controller with saturation functions is designed in the close-loop control of payload tossing stage under initial disturbance caused by actual rendezvous error. To alleviate the influence of inaccurate/unknown payload mass parameters, the adaptive law is designed and integrated into sliding mode controller. Finally, the performance of the proposed controller is evaluated using simulations. Simulation results validate that proposed controller is found effective in driving the spinning tether system to carry payload into desired cislunar transfer orbit and in dealing with payload mass parameter uncertainty in a relatively large range. Findings The results show that unideal rendezvous manoeuvres have significant impact on in-plane motion of spinning tether system, and the proposed adaptive sliding mode controller with saturation functions not only guarantees the stability but also provides good performance and robustness against the parameter and unstructured uncertainties. Originality/value This work addresses the analysis of actual impact on spinning tether system motion when payload is docking with system within tolerated docking window, rather than at the particular ideal docking point, and the robust tracking control of deep-space payload tossing missions with the spinning tether system using the adaptive sliding mode controller dealing with parameter uncertainties. This combination has not been proposed before for tracking control of multivariable spinning tether systems.

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