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.

scholarly journals Gliding-Guided Projectile Attitude Tracking Controller Design Based on Improved Adaptive Twisting Sliding Mode Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-15
Author(s):  
Wenguang Zhang ◽  
Wenjun Yi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Closed Loop System ◽  
Finite Time Convergence ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Chattering Attenuation ◽  
Attitude Tracking Control

The finite-time attitude tracking control for gliding-guided projectile with unmatched and matched disturbance is investigated. An adaptive variable observer is used to provide estimation for the unmeasured state which contains unmatched disturbance. Then, an improved adaptive twisting sliding mode algorithm is proposed to compensate for the matched disturbance dynamically with better transient quality. Finally, a proof of the finite-time convergence of the closed-loop system under the disturbance observer and the adaptive twisting sliding mode-based controller is derived using the Lyapunov technique. This attitude tracking control scheme does not require any information on the bounds of uncertainties. Simulation results demonstrate that the proposed method which is able to acquire the minimum possible values of the control gains guaranteeing the finite-time convergence performs well in chattering attenuation and tracking precision.

scholarly journals Bounded Attitude Control with Active Disturbance Rejection Capabilities for Multirotor UAVs

2021 ◽  
Vol 11 (13) ◽  
pp. 5960
Author(s):  
José Fermi Guerrero-Castellanos ◽  
Sylvain Durand ◽  
German Ardul Munoz-Hernandez ◽  
Nicolas Marchand ◽  
Lorenzo L. González Romeo ◽  
...  
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Tracking Control ◽  
Closed Loop ◽  
Control Law ◽  
Active Disturbance Rejection ◽  
Attitude Tracking ◽  
Exogenous Disturbances ◽  
Attitude Tracking Control ◽  
The Stability

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

scholarly journals Finite-Time Command-Filtered Approximation-Free Attitude Tracking Control of Rigid Spacecraft

2021 ◽  
Author(s):  
Shuzong Xie ◽  
Qiang Chen ◽  
Xiongxiong He ◽  
Meiling Tao ◽  
Liang Tao
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Rigid Spacecraft ◽  
Lower Complexity ◽  
Attitude Tracking Control ◽  
Function Approximations

Abstract This paper presents a finite-time command-filtered approximation-free attitude tracking control for rigid spacecraft. A novel finite-time prescribed performance function (FTPPF) is first constructed to ensure that the attitude tracking errors converge to the predefined region in finite time. Then, a finite-time error compensation mechanism is constructed and incorporated into the backstepping control design, such that the differentiation of virtual control signals in recursive steps can be avoided to overcome the singularity issue. Compared with most of approximation-based attitude control methods, less computational burden and lower complexity are guaranteed by the proposed approximation-free control scheme due to the avoidance of using any function approximations. Simulations are given to illustrate the efficiency of the proposed method.

scholarly journals Adaptive Output Tracking Control for Nonlinear Systems with Failed Actuators and Aircraft Flight System Applications

2015 ◽  
Vol 2015 ◽  
pp. 1-14
Author(s):  
Chuanjing Hou ◽  
Lisheng Hu ◽  
Yingwei Zhang
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Closed Loop ◽  
High Gain ◽  
Compensation Scheme ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Output Tracking ◽  
Output Tracking Control ◽  
The Stability

An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.

scholarly journals Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jawhar Ghommam ◽  
Luis F. Luque-Vega ◽  
Maarouf Saad
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Formation Control ◽  
Closed Loop ◽  
Group Formation ◽  
Closed Loop System ◽  
Relative Localization ◽  
Formation Pattern ◽  
Set Up ◽  
The Stability

In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

Robust attitude fault-tolerant control for unmanned autonomous helicopter with flapping dynamics and actuator faults

2018 ◽  
Vol 41 (5) ◽  
pp. 1266-1277 ◽  
Author(s):  
Kun Yan ◽  
Mou Chen ◽  
Qiangxian Wu ◽  
Ke Lu
Keyword(s):  
Closed Loop ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Loop System ◽  
System Stability ◽  
Actuator Faults ◽  
Closed Loop System ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Autonomous Helicopter

In this paper, an adaptive robust fault-tolerant control scheme is developed for attitude tracking control of a medium-scale unmanned autonomous helicopter with rotor flapping dynamics, external unknown disturbances and actuator faults. For the convenience of control design, the actuator dynamics with respect to the tail rotor are introduced. The adaptive fault observer and robust item are employed to observe the actuator faults and eliminate the effect of external disturbances, respectively. A backstepping-based robust fault-tolerant control scheme is designed with the aim of obtaining satisfactory tracking performance and closed-loop system stability is proved via Lyapunov analysis, which guarantees the convergence of all closed-loop system signals. Simulation results are given to show the effectiveness of the proposed control method.

Position and Attitude Tracking Control Law Design Using Geometric Algebra

2014 ◽  
Vol 602-605 ◽  
pp. 1113-1116
Author(s):  
Di Min Wu ◽  
Zhen Jing Li ◽  
Bin Li ◽  
Yu Xia Chen ◽  
Li Li
Keyword(s):  
Rigid Body ◽  
Geometric Algebra ◽  
Tracking Control ◽  
Rigid Body Motion ◽  
Body Motion ◽  
Control Law ◽  
Proportional Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
The Stability

A position and attitude tracking control law is developed using geometric algebra (GA). The rigid body motion can be represented by the screw versor (or motor) in GA. Using the kinematics of the motor, the tracking control law of the rigid body motion can be formulated similar to the proportional control law. This paper provides a GA-based position and attitude tracking control law by using the negative feedback of the motor logarithm. The stability of the control law is validated by the numerical simulation.

Bilateral Parallel Force/Position Teleoperation Control

1999 ◽  
Author(s):  
Keyvan Hashtrudi-Zaad ◽  
Septimiu E. Salcudean
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Position Tracking ◽  
Task Space ◽  
Closed Loop System ◽  
Teleoperation System ◽  
And Performance ◽  
The Stability ◽  
Teleoperation Systems ◽  
Decoupled Systems

Abstract The application of parallel force/position control to teleoperation systems is considered in this paper. Higher priority is given to position control at the master side and to force control at the slave side of the teleoperation system. The stability and performance of the proposed controller is investigated by analyzing the three decoupled systems obtained from projecting the closed-loop system dynamics onto the slave task-space orthogonal directions. Experimental results demonstrate the excellent force and position tracking performance provided by the new controller.

scholarly journals Adaptive Tracking Control for a Class of Manipulator Systems with State Constraints and Stochastic Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-6
Author(s):  
Wei Sun ◽  
Wenxing Yuan ◽  
Jing Zhang ◽  
Qun Sun
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
State Constraints ◽  
Adaptive Controller ◽  
Compact Set ◽  
Closed Loop System ◽  
Stochastic Disturbances ◽  
Adaptive Tracking Control ◽  
Barrier Lyapunov Function ◽  
Control Scheme

An adaptive controller is constructed for a class of stochastic manipulator nonlinear systems in this paper. The states are constrained in the compact set. A tan-type Barrier Lyapunov Function (BLF) is employed to deal with state constraints. The proposed control scheme guarantees the output error convergence to a small neighbourhood of zero. All the signals in the closed-loop system are bounded. The simulation results illustrate the validity of the proposed method.

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