A specified‐time control framework for control‐affine systems and rigid bodies: A time‐rescaling approach

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This paper addresses the noncooperative attitude tracking control problem for rigid bodies whose dynamics evolves on the rotation matrix SO(3). First, based on the relative attitude measurement, a saturated angular velocity input is designed by a proposed saturated nonlinear function. Thereafter, the attitude tracking control torque for rigid body's dynamics with input saturation constraint and active disturbance rejection is developed by a modified dynamic surface control approach which can avoid large torque in practice. Furthermore, by using only relative attitude measurements, two types of velocity-free attitude control laws are considered, respectively. In contrast to those control schemes that require that the desired angular velocity is available to the rigid body, the proposed scheme is able to solve the attitude control in noncooperative scenarios, where the desired angular velocity and acceleration are not accessible. Since the attitude described by rotation matrix SO(3) enables the controller to use local measurements in the body-fixed frame rather than global measurements in an inertial frame, the proposed robust noncooperative control schemes with input saturation constraint are easier to implement in practice. Finally, numerical simulations and SimMechanics experiments are provided to illustrate the effectiveness of the proposed theoretical results.

Section: ) ▪mentioning

confidence: 99%

Section: Simmechanics Experimentsmentioning

confidence: 99%

Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint

Peng

Sun

Zhang

2021

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“…In this section, the SimMechanics experiments are provided to illustrate the effectiveness of the proposed theoretical results. In SimMechanics experiments, 34,42 the control torque is applied to a physical system that is constructed by SimMechanics module in MATLAB software, rather than the mathematical model (8) and (9).…”

Section: Simmechanics Experimentsmentioning

confidence: 99%

Distributed observer‐based leader‐follower attitude consensus control for multiple rigid bodies using rotation matrices

Peng

Zhang

2019

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Summary This paper addresses the distributed observer‐based leader‐follower attitude consensus control problem for multiple rigid bodies. An intrinsic distributed observer is proposed for each follower to estimate the leader's trajectory, which is only available to a subset of followers. The proposed observer can guarantee that the estimated attitude evolves on rotation matrices all the time, and it provides us with a simple way to design the attitude consensus control law. The dynamics of rigid bodies and distributed observer are both modeled directly on rotation matrices, so that the singularity and ambiguity can be avoided. Furthermore, adopting the idea of disturbance observer on vector space, a gyro bias observer on the rotation matrices is proposed. Based on the distributed observer, three types of attitude consensus control law are proposed, which are respectively on the basis of full‐state, biased angular velocity, and external disturbance combined with biased angular velocity. Finally, the SimMechanics experiments are provided to illustrate effectiveness of the proposed theoretical results.

“…The consensus problem of multiagent systems (MASs) has drawn great attention due to its broad applications in many areas such as formation control of robotic teams, information fusion of sensor networks, attitude alignment of multiple unmanned aerial vehicles, and so on . In the past decade, many works have been represented to address the consensus control problem for linear or affine nonlinear MASs (see, for example, References ). However, in some applications such as the chemical reaction, the pendulum control, and the wind turbine control, the dynamic models of systems are in nonaffine form such that the control input does not appear linearly, which makes the controller design more difficult and challenging than affine systems.…”

Section: Introductionmentioning

confidence: 99%

“…In addition, it is more desirable to design finite‐time consensus protocol so that consensus is achieved in a fast way. The finite‐time control idea was given in Reference and expanded to MASs . An observer‐based control algorithm is designed in Reference for achieving finite‐time consensus tracking of second‐order integrator MASs.…”

Section: Introductionmentioning

confidence: 99%

Distributed output‐feedback finite‐time tracking control of nonaffine nonlinear leader‐follower multiagent systems

Chen

Xiang

Dai

2020

The distributed output-feedback tracking control for a class of networked multiagents in nonaffine pure-feedback form is investigated in this article. By introducing a low-pass filter and some auxiliary variables, we first transform the nonaffine system into the affine form. Then, the finite-time observer is designed to estimate the states of the newly derived affine system. By applying the fraction dynamic surface control approach and the neural network-based approximation technique, the distributed output-feedback control laws are proposed and it is proved that the tracking errors converge to an arbitrarily small bound around zero in finite time. Finally, some simulation examples are provided to confirm the effectiveness of the developed method. K E Y W O R D Sfinite-time, multiagent systems, nonaffine system, output-feedback, pure-feedback system