Controller design for rigid spacecraft attitude tracking with actuator saturation

Lu, Kunfeng; Xia, Yuanqing; Fu, Mengyin

doi:10.1016/j.ins.2012.07.039

Cited by 126 publications

(119 citation statements)

References 27 publications

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“…The equilibrium = 0 of system (13) Lemma 4 (see [16]). For system (13), suppose that there exists a continuous positive definite function ( ) : → such thaṫ…”

Section: Definition and Lemmamentioning

confidence: 99%

“…Then, the origin is a finite-time stable equilibrium of system (13). Furthermore, ( 0 ) is the settling time that is defined as the time needed to reach ( ) ≡ 0 and satisfies…”

Section: Definition and Lemmamentioning

confidence: 99%

“…For system (13), suppose there exists a positive definite and radially unbounded function ( ) : → such that ( ) = 0 ⇒ = 0 anḋ…”

Section: Definition and Lemmamentioning

confidence: 99%

“…In [13], the upper bound of ( ) was estimated by traditional adaptive update law. The sign function was combined with the adaptive update law and it can only ensure uniformly ultimate boundedness of̂0 and̂1.…”

Section: Remark 14mentioning

confidence: 99%

“…These factors make the design of an attitude control law with rapid and precise maneuver performance for a flexible spacecraft very difficult and even pose a great challenge to space missions. In recent years, a variety of control methods have been proposed to solve the attitude control problem, like proportional derivative control [1], adaptive control [2], ∞ control [3], passivity-based control [4,5], sliding mode control [6][7][8], active disturbance rejection control [9], disturbance observer based control [10], and so forth [11][12][13]. Although these nonlinear control laws have offered sufficient and reliable effectiveness and robustness in spacecraft attitude control systems, they require infinite time to accomplish an attitude maneuver.…”

Section: Introductionmentioning

confidence: 99%

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Anti-Unwinding Attitude Control with Fixed-Time Convergence for a Flexible Spacecraft

Pukdeboon

Jitpattanakul

2017

International Journal of Aerospace Engineering

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This paper investigates the fixed-time attitude tracking control problem for flexible spacecraft with unknown bounded disturbances. First, with the knowledge of norm upper bounds of external disturbances and the coupling effect of flexible modes, a novel robust fixed-time controller is designed to deal with this problem. Second, the controller is further enhanced by an adaptive law to avoid the knowledge of norm upper bounds of external disturbances and coupling effect of flexible modes. This control law guarantees the convergence of attitude tracking errors in fixed time where the settling time is bounded by a constant independent of initial conditions. Moreover, the proposed controllers can prevent the unwinding phenomenon. Simulation results are presented to demonstrate the performance of the proposed control scheme.

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“…The equilibrium = 0 of system (13) Lemma 4 (see [16]). For system (13), suppose that there exists a continuous positive definite function ( ) : → such thaṫ…”

Section: Definition and Lemmamentioning

confidence: 99%

“…Then, the origin is a finite-time stable equilibrium of system (13). Furthermore, ( 0 ) is the settling time that is defined as the time needed to reach ( ) ≡ 0 and satisfies…”

Section: Definition and Lemmamentioning

confidence: 99%

“…For system (13), suppose there exists a positive definite and radially unbounded function ( ) : → such that ( ) = 0 ⇒ = 0 anḋ…”

Section: Definition and Lemmamentioning

confidence: 99%

Section: Remark 14mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Anti-Unwinding Attitude Control with Fixed-Time Convergence for a Flexible Spacecraft

Pukdeboon

Jitpattanakul

2017

International Journal of Aerospace Engineering

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Spacecraft Anti‐Unwinding Attitude Control Using Second‐Order Sliding Mode

Tiwari

Janardhanan

un-Nabi

2017

Asian Journal of Control

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This paper presents an anti-unwinding control method for the attitude stabilization of a rigid spacecraft. Quaternion has double stable equilibrium and this may cause unwinding problems in spacecraft attitude control if both the equilibria are not considered in control design. Here, the initial condition of scalar quaternion is included in sliding surface and an anti-unwinding control method is formulated in second-order sliding mode. The presented second-order sliding mode controller can alleviate chattering and ensure a smooth control for actuator. Further, to eliminate the need of advance information about bounds of uncertainty and external disturbance, adaptive laws are applied to estimate the controller gains. The closed-loop stability is proved using the Lyapunov stability theory. In conclusion, a simulation is conducted in the presence of inertia uncertainty and external disturbances and it is found that the presented control method is efficient to negate the effect of inertia uncertainty and external disturbances, alleviate chattering, eliminate unwinding, and ensure high accuracy and steady state precision. P. M. Tiwari received his M.Tech and PhD in Control Engineering from Aligarh Muslim University Aligarh and Indian Institute of Technology Delhi in 2005 and 2016, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Amity University Uttar Pradesh Noida. His research interests include sliding mode control, adaptive control, attitude control, and process control. S. Janardhanan received his M.Tech and PhD in Systems and Control Engineering from Indian Institute of Technology Bombay in 2002 and 2006, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Indian Institute of Technology Delhi. He has over 100 publications in journals and conferences of international repute to his credit. His research interests include discrete-time systems, model order reduction, sliding mode control and robotics. M. Un-Nabi received his M.Tech and PhD in Control Engineering from Indian Institute of Technology Kanpur and Indian Institute of Technology Mumbai in 2003 and 2005, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Indian Institute of Technology Delhi. He has around 60 publications in journals and conferences of international repute to his credit. His research interests include model order reduction, guidance and control, and sliding mode control.

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Finite‐time attitude stabilization for rigid spacecraft

Xia

2013

Intl J Robust & Nonlinear

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This paper investigates the finite-time attitude stabilization problem for rigid spacecraft in the presence of inertia uncertainties and external disturbances. Three nonsingular terminal sliding mode (NTSM) controllers are designed to make the spacecraft system converge to its equilibrium point or a region around its equilibrium point in finite time. In addition, these novel controllers are singularity-free, and the presented adaptive NTSM control (ANTSMC) laws are chattering-free. A rigorous proof of finite-time convergence is developed. The proposed ANTSMC algorithms combine NTSM, adaptation and a constant plus power rate reaching law. Because the algorithms require no information about inertia uncertainties and external disturbances, they can be used in practical systems, where such knowledge is typically unavailable. Simulation results support the theoretical analysis.here, the unit quaternion .q v , q 4 / 2 R 3 R represents the attitude orientation of the spacecraft and satisfies the constraint q T v q v C q 2 4 D 1, where q v WD OEq 1 , q 2 , q 3 T 2 R 3 is the vector part and q 4 2 R is the scalar component. J 2 R 3 3 is the symmetric inertia matrix of the spacecraft, D OE 1 , 2 , 3 T 2 R 3 is the angular velocity of the spacecraft, u 2 R 3 and d 2 R 3 are the control torques and the external unknown disturbances including environmental disturbances, solar radiation and magnetic effects. is an operator on any vector a D OEa 1 a 2 a 3 T . Lemma 3.4 Consider the spacecraft system (1)-(2), for the NTSMS (3) satisfying S.t/ D 0. Then ¹q v .t / Á 0, q 4 .t / Á 1, .t / Á 0º can be reached in finite time. ProofSee A1 in Appendix. Assumption 3.1As in [7], we assume that the inertia matrix in (2) is in the form of J D J 0 CJ , where J 0 , selected nonsingular, is the known constant matrix and J denotes the uncertainties satisfying kJ k 6 J ı with J ı > 0 as an unknown upper bound. Assumption 3.2The external disturbances d.t/ in (2) are assumed to be bounded as kd.t/k 6 d ı , where d ı is an unknown positive constant.

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Controller design for rigid spacecraft attitude tracking with actuator saturation

Cited by 126 publications

References 27 publications

Anti-Unwinding Attitude Control with Fixed-Time Convergence for a Flexible Spacecraft

Anti-Unwinding Attitude Control with Fixed-Time Convergence for a Flexible Spacecraft

Spacecraft Anti‐Unwinding Attitude Control Using Second‐Order Sliding Mode

Finite‐time attitude stabilization for rigid spacecraft

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