Attitude Control of Spacecraft using Robust Backstepping Controller based on High Order Sliding Modes

Dávila, Jorge; Gómez-Cortés, Gian Carlo

doi:10.2514/6.2013-5121

Cited by 10 publications

(4 citation statements)

References 20 publications

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“…In other words, all the unknown information is lumped into the last state equation [4], [5]. This control strategy has several applications, for example, in electric motors [6], diesel machines [7], jet engines [8], robotics [9], quadcopters [10], ship positioning [11], control of air vehicles [12] and attitude control of spacecrafts [13].…”

Section: A Literature Reviewmentioning

confidence: 99%

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Adaptive Backstepping Control Based on Global HOSM Differentiators With Dynamic Gains

Moreira,

Oliveira,

Iuri Pinheiro de Melo Queiroz

2024

IEEE Access

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The present paper proposes the application of global and exact differentiators with dynamic gains based on of higher-order sliding modes (HOSM) to the design of adaptive backstepping control for nonlinear uncertain systems of strict-feedback type. The use of this kind of differentiator in the closedloop system allows us to guarantee global uniform stability (for any initial conditions) due to the variable nature of the dynamic gain. The dynamic gain can grow or decrease with the unmeasured state. In addition, asymptotic output tracking is also assured. In order to illustrate the results of the new theorem, the proposed controller is applied to a high-performance aircraft system, suppressing the wing-rock phenomenon usually observed for fast-speed flight conditions. Comparison results with a linear-inexact differentiator, a local HOSM differentiator with fixed gains and the proposed global and exact HOSM differentiator with dynamic gain show the superiority of the latter over the former approaches. To demonstrate the practical efficacy of the proposed approach, we conclude with an experimental test featuring a DC motor and the novel differentiator-based backstepping control scheme.INDEX TERMS Adaptive systems, backstepping control, global sliding mode differentiator, uncertain nonlinear systems.

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Section: A Literature Reviewmentioning

confidence: 99%

“…FIGURE13. The same fixed gain (1/τ f = 100) of the lead filter used for the three studied cases: under *delays, with **noise, and without imperfections.…”

mentioning

confidence: 99%

Adaptive Backstepping Control Based on Global HOSM Differentiators With Dynamic Gains

Moreira,

Oliveira,

Iuri Pinheiro de Melo Queiroz

2024

IEEE Access

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“…We use the arbitrary-order robust exact differentiator [29] designed by Levant to differentiate the velocity command and the altitude command in the feedback linearization (3) and (4) . This differentiator [30] possesses the important features of finite-time exact convergence to the real values of estimated derivatives and the possibility to provide some degree of smoothness to the estimated signal. We use and V to denote the scalar differentiator variables.…”

Section: The Arbitrary-order Robust Exact Differentiatormentioning

confidence: 99%

Designing Backstepping Control System for Hypersonic Vehicle Based on Feedback Linearization

Wei

Chen²

2015

International Journal of Aerospace Engineering

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A hypersonic vehicle uses the airbreathing scramjet engine and the airframe and engine integrated design. Therefore, there is a strong cross-coupling effect among its aerodynamic force, thrust, structure, and control. The nonlinearity and uncertainty of the model cause difficulties in control system design. Considering the nonlinearity, coupling characteristics, and aerodynamic parametric uncertainty of its longitudinal dynamic model, we design the control law for its altitude system and velocity system based on the adaptive backstepping control method. Because of the feedback linearization method, we introduce the constraints of the flight vehicle’s actuator into the design, obtaining the robust adaptive control system constrained by the actuator of the flight vehicle. To avoid the high-order derivation problem of the feedback linearization method and the derivation of the virtual control volume in adaptive backstepping control method, we use the arbitrary-order robust exact differentiator to solve the high-order derivatives in feedback linearization and utilize the command filter to obtain the virtual control volume and its derivatives. The simulation results show that the robust adaptive control system we designed can achieve the error-free tracking of altitude and velocity command. It can well overcome the influence of structural parameters, aerodynamic parametric uncertainty, and disturbances; meanwhile, the control command can satisfy the constraints of the actuator.

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“…The problem of spacecraft attitude maneuverability has received a great deal of research interest in recent years. Various nonlinear control algorithms, such as adaptive attitude control, 1 adaptive backstepping control, 2,3 sliding mode control 4,5 and finite-time attitude control [6][7][8][9] have been proposed to solve the rigid spacecraft attitude control problem. Most previous researchers have ignored the physical limitations, however, and assume that the control torque of the spacecraft is sufficient for control without restriction on angular velocity.…”

Section: Introductionmentioning

confidence: 99%

Finite-time attitude controller design via dual-loop control strategy

Yin

Hou

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this paper, a finite-time attitude control scheme based on the dual-loop framework is proposed for rigid spacecraft in the presence of inertia uncertainties, external disturbances, bounded angular velocity, and control input saturation. The control law was designed based on a dual-loop structure. First, a hyperbolic tangent function was used to design the virtual angular velocity command, which serves as the control input of the outer loop system to stabilize the attitude under angular velocity constraints. Second, a smooth function was used to approximate the saturation and an auxiliary system was constructed to compensate for the effects of actuator saturations. A finite-time control law was designed to track the limited command of the outer loop under the disturbance and control input constraints in the inner loop. The stability of the closed-loop system during saturation is thus guaranteed, and the tracking error converges to zero after controller parameters are selected appropriately. A numerical example illustrates the effectiveness of the proposed attitude controller.

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Attitude Control of Spacecraft using Robust Backstepping Controller based on High Order Sliding Modes

Cited by 10 publications

References 20 publications

Adaptive Backstepping Control Based on Global HOSM Differentiators With Dynamic Gains

Adaptive Backstepping Control Based on Global HOSM Differentiators With Dynamic Gains

Designing Backstepping Control System for Hypersonic Vehicle Based on Feedback Linearization

Finite-time attitude controller design via dual-loop control strategy

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