Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

2016 ◽  
Vol 232 (1) ◽  
pp. 96-110 ◽  
Author(s):  
Cheng Huang ◽  
Yan Wang ◽  
Xing-lin Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

Distributed Finite-Time Coordinated Attitude Tracking Control for Multiple Spacecraft with Actuator Saturation

2020 ◽  
Vol 29 (13) ◽  
pp. 2050212
Author(s):  
Zhi Gao ◽  
Zhihao Zhu ◽  
Yu Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Mode Function ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Multiple Spacecraft ◽  
Attitude Tracking Control

For multi-spacecraft with actuator saturation, inertia uncertainties and external disturbances, a distributed finite-time coordinated attitude tracking control problem for the spacecraft with the communication topology containing fewer information paths is investigated. Aiming at reducing the communication path, a class of distributed finite-time state observers is designed. To speed up the convergence rate of the multiple spacecraft system, a fast nonsingular terminal sliding mode function is proposed. Moreover, an adaptive control term is proposed to suppress the impact of the external state-dependent disturbances and unknown time-varying inertia uncertainties. Further considering the actuator saturation owing to its physical limitations, a saturation function is designed. With the distributed finite-time observers, the fast nonsingular terminal sliding mode function, the adaptive update law and the saturation function, a distributed finite-time coordinated attitude tracking saturation controller is designed. Using the proposed controller, the follower can synchronize with the common leader with time-varying trajectory in finite time. Simulation results demonstrate the effectiveness of the designed controller.

Disturbance observer-based fault-tolerant attitude tracking control for rigid spacecraft with finite-time convergence

2017 ◽  
Vol 233 (2) ◽  
pp. 616-628 ◽  
Author(s):  
Qun Zong ◽  
Xiuyun Zhang ◽  
Shikai Shao ◽  
Bailing Tian ◽  
Wenjing Liu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Rigid Spacecraft ◽  
Attitude Tracking Control

In this paper, finite-time fault-tolerant attitude tracking control is investigated for rigid spacecraft system with external disturbances, inertia uncertainties and actuator faults. A novel finite-time disturbance observer combined with a nonsingular terminal sliding mode controller is developed. Using an equivalent output error injection approach, a finite-time disturbance observer with simple structure is firstly designed to estimate lumped uncertainty. Then, to remove the requirement of prior knowledge about lumped uncertainty and reduce chattering, an adaptive finite-time disturbance observer is further proposed, and the estimations converge to the neighborhood of the true values. Based on the designed observer, a unified finite-time attitude controller is obtained automatically. Finally, both additive and multiplicative faults are considered for simulations and the results illustrate the great fault-tolerant capability of the proposed scheme.

Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

2018 ◽  
Vol 233 (6) ◽  
pp. 2119-2130 ◽  
Author(s):  
Bing Huang ◽  
Ai-jun Li ◽  
Yong Guo ◽  
Chang-qing Wang ◽  
Jin-hua Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Schemes ◽  
Fast Terminal Sliding Mode ◽  
Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

scholarly journals Nonsingular Terminal Sliding Mode Based Finite-Time Dynamic Surface Control for a Quadrotor UAV

Algorithms ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 315
Author(s):  
Yuxiao Niu ◽  
Hanyu Ban ◽  
Haichao Zhang ◽  
Wenquan Gong ◽  
Fang Yu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Time Stability ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Dynamic Surface ◽  
Finite Time Stability ◽  
Quadrotor Uav ◽  
Nonsingular Terminal Sliding Mode

In this work, a tracking control strategy is developed to achieve finite-time stability of quadrotor Unmanned Aerial Vehicles (UAVs) subject to external disturbances and parameter uncertainties. Firstly, a finite-time extended state observer (ESO) is proposed based on the nonsingular terminal sliding mode variable to estimate external disturbances to the position subsystem. Then, utilizing the information provided by the ESO and the nonsingular terminal sliding mode control (NTSMC) technique, a dynamic surface controller is proposed to achieve finite-time stability of the position subsystem. By conducting a similar step for the attitude subsystem, a finite-time ESO-based dynamic surface controller is proposed to carry out attitude tracking control of the quadrotor UAV. Finally, the performance of the control algorithm is demonstrated via a numerical simulation.

scholarly journals Terminal Sliding Mode Control for Attitude Tracking of Spacecraft Based on Rotation Matrix

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Yong Guo ◽  
Shen-Min Song ◽  
Xue-Hui Li
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Sliding Mode ◽  
Rotation Matrix ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Sliding Manifold ◽  
Attitude Tracking Control

Two finite-time controllers without unwinding for the attitude tracking control of the spacecraft are investigated based on the rotation matrix, in which a novel modified nonsingular fast terminal sliding manifold is developed to keep tr(R~)≠-1. The first terminal sliding mode controller can compensate external disturbances with known bounds, while the second one can compensate external disturbances with unknown bounds by using an adaptive control method. Since the first terminal sliding mode controller is continuous, it is able to avoid chattering phenomenon. Theoretical analysis shows that both the two controllers can make spacecraft follow a time-varying reference attitude signal in finite time. Numerical simulations also demonstrate that the proposed control schemes are effective.

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.

A New Nonsingular Terminal Sliding Mode Control for Rigid Spacecraft Attitude Tracking

2017 ◽  
Vol 140 (5) ◽  
Author(s):  
Zeng Wang ◽  
Yuxin Su ◽  
Liyin Zhang
Keyword(s):  
Equilibrium Point ◽  
Finite Time ◽  
Sliding Mode ◽  
Tracking Errors ◽  
Robust Controller ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Rigid Spacecraft

This paper addresses the finite time attitude tracking for rigid spacecraft with inertia uncertainties and external disturbances. First, a new nonsingular terminal sliding mode (NTSM) surface is proposed for singularity elimination. Second, a robust controller based on NTSM is designed to solve the attitude tracking problem. It is proved that the new NTSM can converge to zero within finite time, and the attitude tracking errors converge to an arbitrary small bound centered on equilibrium point within finite time and then go to equilibrium point asymptotically. The appealing features of the proposed control are fast convergence, high precision, strong robustness, and easy implementation. Simulations verify the effectiveness of the proposed approach.

Sign in / Sign up

Export Citation Format

Share Document