Attitude stabilization of flexible spacecrafts via extended disturbance observer based controller

Yan, Ruidong; Wu, Zhong

doi:10.1016/j.actaastro.2017.01.004

Cited by 57 publications

(27 citation statements)

References 35 publications

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“…Therefore, it is reasonable to suppose that the total disturbance and its higher order are bounded as given in Assumption 2. The boundedness condition is a common requirement in many existing spacecraft attitude control results [50][51][52].…”

Section: Relative Attitude Error Dynamics and Kinematicsmentioning

confidence: 99%

Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft

Pukdeboon

2018

Sci. China Inf. Sci.

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In this paper, the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed. First, a new nonsingular finite-time sliding surface is introduced and third-order sliding mode finite-time attitude control law is designed to achieve precise accurate tracking responses and robustness against inertia uncertainties and external disturbances. The stability of the closed-loop system is rigorously proved using the Lyapunov stability theory. Then, a new finite-time extended state observer is established to estimate total disturbances of the system. The extended stated observer-based sliding mode control technique yields improved disturbance rejection and high-precision attitude tracking. Moreover, this control law can avoid the unwinding phenomenon and overcome the input saturation constraint by introducing an auxiliary variable to compensate for the overshooting. A Lyapunov based analysis is provided to guarantee sufficiently small observation error and stabilization of the closed-loop system in finite time. Numerical simulations are conducted to verify the effectiveness of the proposed control method. Keywords third-order sliding mode, sliding mode control, extended stated observer, finite-time convergence, unwinding phenomenon Citation Pukdeboon C. Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft.

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Section: Relative Attitude Error Dynamics and Kinematicsmentioning

confidence: 99%

Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft

Pukdeboon

2018

Sci. China Inf. Sci.

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“…Moreover, Mofid and Mobayen (2018) proposes a technique of adaptive sliding mode control (ASMC) for finite-time stabilization of a UAV system with parametric uncertainties. Additionally, a higher-order EDO was applied for attitude stabilization of flexible spacecraft while investigating the effects of different orders on the performance of the EDO (Yan and Wu, 2017). It has been proved that the estimation accuracy can be improved with an increase in the observer order via choosing suitable observer gains.…”

Section: Introductionmentioning

confidence: 99%

An Intuitive End-to-End Human-UAV Interaction System for Field Exploration

et al. 2020

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This paper presents an intuitive end-to-end interaction system between a human and a hexacopter Unmanned Aerial Vehicle (UAV) for field exploration in which the UAV can be commanded by natural human poses. Moreover, LEDs installed on the UAV are used to communicate the state and intents of the UAV to the human as feedback throughout the interaction. A real time multi-human pose estimation system is built that can perform with low latency while maintaining competitive performance. The UAV is equipped with a robotic arm, kinematic and dynamic attitude models for which are provided by introducing the center of gravity (COG) of the vehicle. In addition, a super-twisting extended state observer (STESO)-based back-stepping controller (BSC) is constructed to estimate and attenuate complex disturbances in the attitude control system of the UAV, such as wind gusts, model uncertainties, etc. A stability analysis for the entire control system is also presented based on the Lyapunov stability theory. The pose estimation system is integrated with the proposed intelligent control architecture to command the UAV to execute an exploration task stably. Additionally, all the components of this interaction system are described. Several simulations and experiments have been conducted to demonstrate the effectiveness of the whole system and its individual components.

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“…Of late, nonlinear adaptive and robust control strategies have been proposed in the literature to solve the regulation problem in a flexible spacecraft. Some of the major attitude control paradigms are based on proportional derivative control (Liu et al, 2012), sliding mode control (Bang et al, 2005; Hu, 2012; Hu et al, 2008; Smaeilzadeh and Golestani, 2019; Tiwari et al, 2018), adaptive control (Chakravarty and Mahanta, 2016; Lu and Xia, 2013; Zhu et al, 2011), robust H ∞ control (Wu et al, 2018), switching control (Amrr et al, 2017), and disturbance observer based control (Li et al, 2016; Yan and Wu, 2017), and so forth. Although the aforementioned methodologies render satisfactory performance, they require continuous information of attitude trajectories in the calculation and update of the control law.…”

Section: Introductionmentioning

confidence: 99%

Attitude stabilization of flexible spacecraft under limited communication with reinforced robustness

Amrr

Nabi

2019

Transactions of the Institute of Measurement and Control

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This paper proposes a robust event-driven control for attitude regulation in flexible spacecraft affected by inertial parametric uncertainties and external disturbances. The bandwidth constraint of the communication channel between controller and system requires an event-based control design. Under the action of proposed control law, the system trajectories are ensured to be uniformly ultimately bounded (UUB) in a small vicinity of their equilibrium points. Apart from the boundedness of states, the proposed event-triggered controller also satisfies bandwidth restrictions by achieving a substantially low control usage. The results obtained from numerical simulations are indeed encouraging. It demonstrates the proposed controller as a potential alternative to the periodically sampled data controllers. Moreover, the proposed control strategy successfully eludes the unwanted unwinding phenomenon encountered in quaternion based attitude control of the spacecraft.

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Attitude stabilization of flexible spacecrafts via extended disturbance observer based controller

Cited by 57 publications

References 35 publications

Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft

Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft

An Intuitive End-to-End Human-UAV Interaction System for Field Exploration

Attitude stabilization of flexible spacecraft under limited communication with reinforced robustness

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