Distributed attitude consensus tracking control for spacecraft formation flying via adaptive nonsingular fast terminal sliding mode control

2021 ◽  
pp. 095441002110422
Author(s):  
Xiong Xie ◽  
Tao Sheng ◽  
Liang He ◽  
Zhijun Chen ◽  
Yong Zhao
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Control Law ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Consensus Tracking ◽  
Fast Terminal Sliding Mode

This article investigates the distributed attitude consensus tracking control for spacecraft formation flying with unknown external disturbances and model uncertainties. First, a terminal sliding mode disturbance observer (TSMDO) is constructed to estimate the generalized disturbances including external disturbances and model uncertainties. The finite-time convergence of the estimation errors using TSMDO is analyzed. Second, a variable structure control law is developed to avoid introducing initial errors of the TSMDO. Third, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control law based on TSMDO is proposed to ensure the convergence of attitude tracking errors to zero. Based on theoretical analysis, the finite-time stability can be guaranteed by Lyapunov theory. Finally, the effectiveness of the developed control law is verified via numerical simulations.

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.

Robust adaptive anti-windup wheel slip tracking control for intelligent vehicle with fast terminal sliding mode observer

2020 ◽  
Vol 234 (14) ◽  
pp. 3373-3384
Author(s):  
Jiaxu Zhang ◽  
Shiying Zhou
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Mode Observer ◽  
Intelligent Vehicle ◽  
Control Law ◽  
Wheel Slip ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Robust Adaptive

Aiming at the requirement of the intelligent vehicle for the fast and stable tracking control of the wheel slip, a novel robust adaptive anti-windup wheel slip tracking control method with fast terminal sliding mode observer is proposed. First, a fast terminal sliding mode observer based on equivalent control on the sliding surface is proposed to estimate the states of the wheel slip dynamic system to lay the foundation for the full state feedback control law design. Second, a robust adaptive anti-windup wheel slip tracking control law with lumped uncertainty observer and additional anti-windup dynamics is derived based on Lyapunov-based method. The lumped uncertainty observer utilizes the nonlinear mapping ability of the radius basis function neural network to estimate and compensate the lumped uncertainty of the system, and the unknown optimal weight vector of the radius basis function neural network is updated by adaptive law. The additional anti-windup dynamics is used to suppress the effect of the input saturation on the stability of the system. Finally, the performance of the proposed method is verified through simulations of various maneuvers on vehicle dynamics simulation software.

scholarly journals Nonsingular Fast Terminal Adaptive Neuro-sliding Mode Control for Spacecraft Formation Flying Systems

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Xiaohan Lin ◽  
Xiaoping Shi ◽  
Shilun Li ◽  
Sing Kiong Nguang ◽  
Liruo Zhang
Keyword(s):  
Sliding Mode Control ◽  
Formation Flying ◽  
Sliding Mode ◽  
Control Law ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Control Laws ◽  
Spacecraft Formation ◽  
Mode Control ◽  
Spacecraft Formation Flying

In this paper, a nonsingular fast terminal adaptive neurosliding mode control for spacecraft formation flying systems is investigated. First, a supertwisting disturbance observer is employed to estimate external disturbances in the system. Second, a fast nonsingular terminal sliding mode control law is proposed to guarantee the tracking errors of the spacecraft formation converge to zero in finite time. Third, for the unknown parts in the spacecraft formation flying dynamics, we proposed an adaptive neurosliding mode control law to compensate them. The proposed sliding mode control laws not only achieve the formation but also alleviate the effect of the chattering. Finally, simulations are used to demonstrate the effectiveness of the proposed control laws.

scholarly journals Fast Terminal Sliding Control of Underactuated Robotic Systems Based on Disturbance Observer with Experimental Validation

Mathematics ◽  
2021 ◽  
Vol 9 (16) ◽  
pp. 1935
Author(s):  
Thaned Rojsiraphisal ◽  
Saleh Mobayen ◽  
Jihad H. Asad ◽  
Mai The Vu ◽  
Arthur Chang ◽  
...  
Keyword(s):  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Robotic Systems ◽  
Control Technique ◽  
Control Law ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Inverted Pendulum System ◽  
Fast Terminal Sliding Mode

In this study, a novel fast terminal sliding mode control technique based on the disturbance observer is recommended for the stabilization of underactuated robotic systems. The finite time disturbance observer is employed to estimate the exterior disturbances of the system and develop the finite time control law. The proposed controller can regulate the state trajectories of the underactuated systems to the origin within a finite time in the existence of external disturbances. The stability analysis of the proposed control scheme is verified via the Lyapunov stabilization theory. The designed control law is enough to drive a switching surface achieving the fast terminal sliding mode against severe model nonlinearities with large parametric uncertainties and external disturbances. Illustrative simulation results and experimental validations on a cart-inverted pendulum system are provided to display the success and efficacy of the offered method.

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