A composite anti-disturbance control scheme for attitude stabilization and vibration suppression of flexible spacecrafts

2015 ◽  
Vol 23 (15) ◽  
pp. 2470-2477 ◽  
Author(s):  
Zhen Wang ◽  
Zhong Wu ◽  
Lijun Li ◽  
Jun Yuan
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Vibration Suppression ◽  
Disturbance Attenuation ◽  
Pd Controller ◽  
Parameter Uncertainties ◽  
Performance Simulation ◽  
Attitude Stabilization ◽  
Multiple Disturbances ◽  
Control Scheme

Abstract: There exist multiple disturbances resulting from the structural vibrations of flexible appendages, unknown external and internal disturbances, and parameter uncertainties, which affect the attitude control performance seriously. To enhance the disturbance attenuation performance and vibration suppression ability, a composite anti-disturbance control scheme (CADCS) based on disturbance observer is proposed for attitude stabilization and vibration reduction of flexible spacecraft. The CADCS combines a composite disturbance observer (CDO) and a PD controller with feedforward. The multiple disturbances are equivalent to slowly varying disturbance and harmonic disturbance. The CDO can estimate two types of disturbance and compensate for them through feedforward. The PD controller realizes the asymptotic convergence by compensating the disturbance from CDO. The CADCS based on CDO and PD controller is not only simple and easy to realize, but also yields better vibration suppression and anti-disturbance performance. Simulation results of a certain spacecraft demonstrate the effectiveness of the proposed CADCS.

scholarly journals Disturbance-observer-based attitude control under input nonlinearity

2021 ◽  
pp. 014233122199720
Author(s):  
Umair Javaid ◽  
Hongyang Dong
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Controller Design ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Parameter Uncertainties ◽  
Input Nonlinearity ◽  
Control Scheme ◽  
System States

A disturbance observer-based control scheme is proposed in this paper to deal with the attitude stabilization problems of spacecraft subjected to external disturbances, parameter uncertainties, and input nonlinearities. Particularly, the proposed approach addresses the dead-zone issue, a non-smooth nonlinearity affiliated with control input that significantly increases controller design difficulties. A novel nonlinear disturbance observer (NDO) is developed, which relaxes the strong assumption in conventional NDO design that disturbances should be constants or varying with slow rates. After that, a special integral sliding mode controller (ISMC) is combined with the NDO to achieve asymptotic convergence of system states. Simulations are performed in the presence of time-varying disturbances, parameter uncertainties, and dead-zone nonlinearity to justify the effectiveness of the proposed control scheme.

Super-twisting disturbance observer-based finite- time attitude stabilization of flexible spacecraft subject to complex disturbances

2018 ◽  
Vol 25 (5) ◽  
pp. 1008-1018 ◽  
Author(s):  
Ruidong Yan ◽  
Zhong Wu
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
State Variables ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Attitude Stabilization ◽  
Nonsingular Terminal Sliding Mode

There exist complex disturbances in the attitude control system of flexible spacecrafts, such as space environmental disturbances, flexible vibrations, inertia uncertainties, payload motions, etc. To suppress the effects of these disturbances on the performance of attitude stabilization, a super-twisting disturbance observer (STDO)-based nonsingular terminal sliding mode controller (NTSMC) is proposed in this paper. First, STDO is designed for a second-order dynamical system constructed by applying the lumped disturbance and its integral as state variables, and applying the integral as virtual measurement. Since the virtual measurement is obtained by integrating the inverse attitude dynamics, STDO not only avoids the differential operation of angular velocity, but also fully utilizes the information of a nonlinear model. By combining STDO with NTSMC, a composite controller is designed to achieve high-accuracy spacecraft attitude stabilization. Since most of the disturbances are compensated for by a STDO-based feedforward compensator, only a small switching gain is required to deal with the residual disturbances and uncertainties. Thus, the chattering phenomenon of the controller can be alleviated to a great extent. Finally, numerical simulations for the comparison between STDO-based NTSMC and nonlinear disturbance observer-based NTSMC are carried out in the presence of complex disturbances to verify the effectiveness of the proposed approach.

scholarly journals Antidisturbance Vibration Suppression of the Aerial Refueling Hose during the Coupling Process

2017 ◽  
Vol 2017 ◽  
pp. 1-20
Author(s):  
Zikang Su ◽  
Honglun Wang
Keyword(s):  
Vibration Suppression ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
Tracking Error ◽  
Measurement Noise ◽  
Aerial Refueling ◽  
Terminal Sliding Mode ◽  
Multiple Disturbances ◽  
Noise Simulation ◽  
Control Scheme

In autonomous aerial refueling (AAR), the vibration of the flexible refueling hose caused by the receiver aircraft’s excessive closure speed should be suppressed once it appears. This paper proposed an active control strategy based on the permanent magnet synchronous motor (PMSM) angular control for the timely and accurate vibration suppression of the flexible refueling hose. A nonsingular fast terminal sliding-mode (NFTSM) control scheme with adaptive extended state observer (AESO) is proposed for PMSM take-up system under multiple disturbances. The states and the “total disturbance” of the PMSM system are firstly reconstituted using the AESO under the uncertainties and measurement noise. Then, a faster sliding variable with tracking error exponential term is proposed together with a special designed reaching law to enhance the global convergence speed and precision of the controller. The proposed control scheme provides a more comprehensive solution to rapidly suppress the flexible refueling hose vibration in AAR. Compared to other methods, the scheme can suppress the flexible hose vibration more fleetly and accurately even when the system is exposed to multiple disturbances and measurement noise. Simulation results show that the proposed scheme is competitive in accuracy, global rapidity, and robustness.

Composite hierarchical anti-disturbance control for stochastic systems with multiple disturbances

2017 ◽  
Vol 40 (6) ◽  
pp. 1950-1955 ◽  
Author(s):  
Shixiang Sun ◽  
Xinjiang Wei ◽  
Huifeng Zhang
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
Stochastic Systems ◽  
Time Derivative ◽  
Closed Loop System ◽  
Stochastic Disturbance ◽  
Multiple Disturbances ◽  
Control Scheme ◽  
Bounded Disturbance ◽  
White Noises

A class of stochastic systems with multiple disturbances, which includes white noises and disturbances whose time derivative is bounded, is considered in this paper. To estimate the unknown bounded disturbance, a stochastic disturbance observer is proposed. Based on the observer, a disturbance observer-based disturbance control scheme is constructed such that the composite closed-loop system is asymptotically bounded. Finally, a simulation example is given to demonstrate the feasibility and effectiveness of the proposed scheme.

Three-axis attitude stabilization of a flexible satellite using non-linear PD controller

2016 ◽  
Vol 40 (2) ◽  
pp. 591-605 ◽  
Author(s):  
Babak Baghi ◽  
Mansour Kabganian ◽  
Reza Nadafi ◽  
Ehsan Arabi
Keyword(s):  
Control System ◽  
Direct Method ◽  
Pd Controller ◽  
Control Torque ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Control Moment Gyroscope ◽  
Attitude Stabilization ◽  
Control Moment ◽  
Non Linear

In this paper, after complete modelling of a flexible satellite equipped with a control moment gyroscope (CMG) actuator, it is shown that a PD-like controller can globally asymptotically stabilize this satellite by using Lyapunov’s direct method. Despite the simplicity, simulations show that the controller can stabilize the flexible satellite in a three-axis manoeuvre even in the presence of external disturbances. Then, using a non-linear variable gains PD controller, which only uses angular velocity of the rigid body and the attitude parameters as the inputs, the performance of the control system is improved in some important aspects such as reducing maximum control torque, reducing maximum peak of deflection of the appendages and increasing robustness of the controller against the orbital disturbances. In addition, locally asymptotically stability of the non-linear variable gain PD controller is guaranteed using a novel Lyapunov candidate function. Considering the difficulty in measuring the appendages’ deflection and the primarily existence of parameter uncertainties, and as this controller is independent of changes in these parameters, such a control system is very useful and applicable. In order to validate the system’s mathematical model and the control system performance, an exact model of the satellite is constructed in the ADAMS/View software that is linked to the MATLAB software. The efficacy of the proposed approach is demonstrated by several numerical examples.

Composite attitude control for flexible spacecraft with simultaneous disturbance attenuation and rejection performance

2011 ◽  
Vol 226 (2) ◽  
pp. 154-161 ◽  
Author(s):  
H Liu ◽  
L Guo ◽  
Y Zhang
Keyword(s):  
Model Uncertainty ◽  
Attitude Control ◽  
Disturbance Observer ◽  
State Feedback ◽  
Flexible Spacecraft ◽  
State Feedback Control ◽  
Disturbance Attenuation ◽  
Space Environment ◽  
Control Approach ◽  
Measurement Noises

In this paper, a composite attitude control approach for orbiting spacecraft with rigid central hubs and flexible appendages is presented. The established attitude control model consists of the vibration modes excited by the rigid body, the space environment disturbances, the measurement noises, and the model uncertainty. The model is formulated into a dynamic system with two types of disturbance inputs. A composite control law with the simultaneous disturbance attenuation and rejection performance is presented for the flexible spacecraft system subject to multiple disturbances. The disturbance-observer-based control is designed for feedforward compensation of the elastic vibration. The H∞ state-feedback controller is designed to perform the robust attitude control in the presence of the space environment disturbances, measurement noises, and the model uncertainty. Numerical simulations show that the performance of the attitude control systems can be improved by combining the disturbance observer with H∞ state-feedback control.

scholarly journals A composite controller based on nonlinear H_∞ and nonlinear disturbance observer for attitude stabilization of a flying robot

2021 ◽  
Vol 22 (1) ◽  
pp. 270
Author(s):  
Vahid Razmavar ◽  
Heidar Ali Talebi ◽  
Farzaneh Abdollahi
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Parametric Uncertainty ◽  
Control Technique ◽  
Robust Controller ◽  
Nonlinear Disturbance Observer ◽  
Control Scheme ◽  
Nonlinear Disturbance ◽  
Flying Robot

<span>In this article a novel composite control technique is introduced. We added a nonlinear disturbance observer to a nonlinear H_∞ control to form this composite controller. The quadrotor kinematics and dynamics is formulated using euler angles and parameters. After that, this nonlinear robust controller is developed for this flying robot attitude control for the outdoor conditions. Because under these conditions the flying robot, experiences both external disturbance and parametric uncertainty. Stability analysis is also presented to show the global asymptotical stability using a Lyapunov function. The simulation results showed that the suggested composite controller had a better performance in comparison with a nonlinear H_∞ control scheme.</span>

scholarly journals Adaptive Fuzzy Control for Attitude Stabilization of Spacecraft with Deployable Composite Laminated Solar Array

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-26
Author(s):  
Wei Zhang ◽  
Weibing Zhu ◽  
Shijie Zhang ◽  
Xiangtian Zhao
Keyword(s):  
Dynamic Model ◽  
Differential Algebraic Equations ◽  
Solar Array ◽  
Main Body ◽  
Pd Controller ◽  
Attitude Stabilization ◽  
Adaptive Fuzzy ◽  
Control Scheme ◽  
Deployment Dynamics ◽  
Fuzzy Pd

Modern spacecraft are often equipped with large-scale, complex, and lightweight solar arrays whose deployment involves a highly dynamic movement. This paper proposed a novel adaptive proportional-derivative typed fuzzy logic control scheme for the attitude stabilization of a flexible spacecraft during the deployment of a composite laminated solar array. First, a constrained rigid-flexible coupling spacecraft model consisting of a rigid main body and a flexible solar array was proposed. The solar array, which is composed of composite laminated shells, was described by the absolute nodal coordinate formulation. Then, the detailed derivation of the adaptive fuzzy PD controller for attitude stabilization of the spacecraft was discussed. In addition, the spacecraft dynamic model which integrated the adaptive fuzzy PD controller was derived as a set of differential-algebraic equations. Several simulations were developed to investigate the solar array deployment dynamics and to verify the effectiveness of the proposed adaptive fuzzy PD controller. The results suggested that the proposed dynamic model is able to exactly describe the deployment dynamics of the composite laminated solar array. The solar array deployment causes obvious translational and rotational motions of the spacecraft. The proposed adaptive fuzzy PD control scheme has better performance in terms of the control precision and time response in stabilizing spacecraft during the deployment of the composite laminated solar array, comparing with that of the conventional PD controller.

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yihui Gong ◽  
Lin Li ◽  
Shengbo Qi ◽  
Changbin Wang ◽  
Dalei Song
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
External Disturbance ◽  
Proportional Integral Derivative ◽  
Content Type ◽  
Proportional Integral ◽  
Control Scheme ◽  
Yaw Attitude ◽  
Nonlinear Hydrodynamics ◽  
Parameters Perturbation

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

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