Approximation-free Attitude Fault-tolerant Tracking Control of Rigid Spacecraft with Global Stability and Appointed Accuracy

Huang, Xiuwei; Dong, Zhiyan; Zhang, Kai; Zhang, Feng; Zhang, Lihua

doi:10.1109/taes.2023.3284415

Cited by 3 publications

(2 citation statements)

References 42 publications

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“…Video microsatellites offer continuous target observation, which, coupled with short development cycles and low costs, makes microsatellites widely applicable. Gaze tracking of targets is a primary operational mode for video microsatellites [1,2]. However, for high-precision target gaze under high resolution and narrow field of view, the attitude control precision of microsatellites has strict requirements.…”

Section: Introductionmentioning

confidence: 99%

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Feedforward Compensation Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

Yang,

Li,

Liao

et al. 2024

Preprint

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Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance the attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.009°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

show abstract

Section: Introductionmentioning

confidence: 99%

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Feedforward Compensation Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

Yang,

Li,

Liao

et al. 2024

Preprint

View full text Add to dashboard Cite

show abstract

“…in real-time target tracking, environmental monitoring, and other fields. Gaze tracking of targets is a primary operational mode for video microsatellites [1,2]. Especially for targets with unknown positions, it is necessary to use high-resolution cameras to image them and use image information to achieve continuous gaze tracking.…”

Section: Introductionmentioning

confidence: 99%

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

Yang,

Li,

Liao

et al. 2024

Electronics

View full text Add to dashboard Cite

Gaze tracking of high-speed moving targets is a novel application mode for low Earth orbit microsatellites. In this mode, small satellites are equipped with high-resolution, narrow-field-of-view video cameras for stable gaze-tracking imaging of high-speed moving targets. This paper proposes a high-precision attitude adaptive integral sliding mode control method with a feedforward compensation disturbance observer to enhance the capability of a microsatellite attitude control system for gaze tracking of high-speed moving targets. Specifically, first, we present the attitude control system model for microsatellites and the calculation method for the desired attitude of target tracking based on image feedback. Then, an adaptive integral sliding mode attitude control algorithm with a feedforward compensation disturbance observer, which meets the requirements of high-precision tracking control, is designed. The developed algorithm utilizes the disturbance observer to observe the friction torque of the flywheel and compensates for it through feedforward control. It also employs the adaptive integral sliding mode control algorithm to reduce the impact of uncertain disturbances, decrease the steady-state error of the system, and enhance attitude control precision. Simulation experiments demonstrated that the designed disturbance observer can successfully observe the frictional disturbance torque of the flywheel. The attitude Euler angle control precision for high-speed moving target tracking reached 0.03°, and the angular velocity control precision reached 0.005°/s, validating the effectiveness of the proposed approach.

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Model-free adaptive trajectory tracking control of robotic manipulators with practical prescribed-time performance

Huang,

Dong,

Yang

et al. 2023

Nonlinear Dyn

Self Cite

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Considering accurate model information of robotic manipulators is hard to obtain in real applications, this article proposes a model-free trajectory tracking control scheme for the robotic system with input saturation, where a pre-defined tracking precision within prescribed time under any initial conditions is ensured. Firstly, to avoid a sharp corner when control input exceeds constraint, a new smooth function is used to approximate the saturated control torque and then a new robotic system model is built. Based on the rebuilt system, a time-delay estimation (TDE) method is used to estimate the lumped uncertainty containing unknown dynamics and external disturbance. Furthermore, a model-free adaptive controller is developed to ensure the tracking error converge to a preset small residual within given time, where adaptive law and auxiliary system are used to cope with the TED estimation error and control input saturation, respectively. With the developed practical prescribed-time function, there is no constraint on the initial value of the tracking error, thus global stability is guaranteed. Finally, a planar two-link robotic manipulator is simulated to show the effectiveness of the developed control scheme.

show abstract

Approximation-free Attitude Fault-tolerant Tracking Control of Rigid Spacecraft with Global Stability and Appointed Accuracy

Cited by 3 publications

References 42 publications

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Feedforward Compensation Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Feedforward Compensation Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

An Attitude Adaptive Integral Sliding Mode Control Algorithm with Disturbance Observer for Microsatellites to Track High-Speed Moving Targets

Model-free adaptive trajectory tracking control of robotic manipulators with practical prescribed-time performance

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