Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

Zhao, Yuxin; Huang, Panfeng; Zhang, Fan

doi:10.1016/j.actaastro.2017.11.025

Cited by 43 publications

(31 citation statements)

References 21 publications

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“…And we hope that the angular momentum accumulation on the Y o -axis or Z o -axis can be maximized in a certain period of time; also, the accumulation on the other two axes can be minimized within one orbital period. Therefore, two SAMA strategies which correspond to the accumulation on the Y o -axis and Z o -axis are given, as shown in equations (10) and (11). Based on the strategies, we can adjust the direction or the magnitude of the magnetic moment carried by the delivery spacecraft in the entire angular momentum accumulation process.…”

Section: Spin Angular Momentum Accumulationmentioning

confidence: 99%

“…The most promising ADR or capturing approaches that we introduce here are tethered space systems (TSS), propulsion systems, robotic arm, drag augmentation systems, and other contactless removal approaches [2,9,10]. The TSS generally include a tethered space net (TSN), a tethered space gripper (TSG), a tethered space harpoon (TSH) [11], electrodynamic tethers (EDT) [12], and a momentum exchange tether (MET), where TSN, TSG, and TSH, which are named as a tethered space robot (TSR) [12] and belong to debris capturing approaches [9], consist of three main parts [11]: base satellite, tether, and subsatellite; the subsatellite released using a spring ejection device is part of the base satellite until deployment, and the base satellite and subsatellite are connected by a tether [13]. The best known ADR mission called e.Deorbit of ESA's Clean Space initiative [10] will launch a derelict satellite in the LEO in 2023 and use the concept of TSN [14].…”

Section: Introductionmentioning

confidence: 99%

“…Considering the external disturbances, they completed the derivation of the dynamics model of TSG in Ref. [11], and an improved control algorithm of super-twisting sliding mode control (STSMC) was proposed to eliminate the vibration of the tether in the station-keeping phase. In Ref.…”

Section: Introductionmentioning

confidence: 99%

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Geomagnetic Energy Approach to Space Debris Deorbiting in a Low Earth Orbit

Feng

Zhang

2019

International Journal of Aerospace Engineering

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The space debris removal problem needs to be solved urgently. Over 70% of debris is distributed between the 500 km and 1000 km low Earth orbits (LEO), and existing methods may be theoretically feasible but are not the high-efficiency and low-consumption methods for LEO debris removal. Based on the torque effect of a static magnet interacting with the geomagnetic field, a new spin angular momentum exchange (SAME) method by geomagnetic excitation (without working medium consumption) for LEO active debris deorbiting is proposed. The LEO delivery capability of this method is researched. Two kinds of spin angular momentum accumulation (SAMA) strategies are proposed. Then through numerical simulation under the dipole model and International Geomagnetic Reference Field (IGRF11) model, the results confirm the physical feasibility and basic performance of the proposed method. The method can be applied to the regions of the LEO below 1000 km with different altitudes/inclinations and eccentricities, and with existent magnetorquer technology, only several days of preparation is required for about 104 m·kg mechanism-scale-debris-mass deorbiting, which can be used for deorbiting missions in debris-intensive areas (altitude≤1000 km); without consideration of external effects on the geomagnetic field distribution, it has the same deorbiting capability with that of the LEO below 1000 km when the altitude is over 1000 km. Besides, the method is characterized by explicit mechanism, flexible control strategy and application, and low dependence on the scale. Finally, the key technology requirements and future application of LEO active debris removal and on-orbit delivery by using SAME are prospected.

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Section: Spin Angular Momentum Accumulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Geomagnetic Energy Approach to Space Debris Deorbiting in a Low Earth Orbit

Feng

Zhang

2019

International Journal of Aerospace Engineering

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“…Based on SMC, different new techniques are designed to address nonlinear control problems [36,41,48,53]. It is widely used to design controllers for robotics [33,37,54], under-actuated cranes [21,27,42,43], quadrotors for unmanned aerial vehicles (UAV) [1], and under-actuated vessels [22].…”

Section: Introductionmentioning

confidence: 99%

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Idrees¹,

Muhammad²,

Ullah³

2019

Kybernetika

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“…Additionally, in [17], the authors employed a second-order super twisting (SOST) algorithm to ensure the attitude tracking and robustness of a quadrotor against bounded external disturbances. The second-order super-twisting SMC (SOST-SMC) is a particular kind of HO-SMC that has been successfully implemented by several researchers in various fields of systems control [18][19][20]. SOST-SMC was introduced by Levant [21] in order to handle the chattering problem while simultaneously ensuring the convergence and stability of the control system.…”

Section: Introductionmentioning

confidence: 99%

Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

et al. 2018

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In this study, we develop a rigorous tracking control approach for quadrotor unmanned aerial vehicles (UAVs) with unknown dynamics, unknown physical parameters, and subject to unknown and unpredictable disturbances. In order to better estimate the unknown functions, seven interval type-2-adaptive fuzzy systems (IT2-AFSs) and five adaptive systems are designed. Then, a new IT2 adaptive fuzzy reaching sliding mode system (IT2-AFRSMS) which generates an optimal smooth adaptive fuzzy reaching sliding mode control law (AFRSMCL) using IT2-AFSs is introduced. The AFRSMCL is designed a way that ensures that its gains are efficiently estimated. Thus, the global proposed control law can effectively achieve the predetermined performances of the tracking control while simultaneously avoiding the chattering phenomenon, despite the approximation errors and all disturbances acting on the quadrotor dynamics. The adaptation laws are designed by utilizing the stability analysis of Lyapunov. A simulation example is used to validate the robustness and effectiveness of the proposed method of control. The obtained results confirm the results of the mathematical analysis in guaranteeing the tracking convergence and stability of the closed loop dynamics despite the unknown dynamics, unknown disturbances, and unknown physical parameters of the controlled system.

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Dynamic modeling and Super-Twisting Sliding Mode Control for Tethered Space Robot

Cited by 43 publications

References 21 publications

Geomagnetic Energy Approach to Space Debris Deorbiting in a Low Earth Orbit

Geomagnetic Energy Approach to Space Debris Deorbiting in a Low Earth Orbit

Robust hierarchical sliding mode control with state-dependent switching gain for stabilization of rotary inverted pendulum

Robust Full Tracking Control Design of Disturbed Quadrotor UAVs with Unknown Dynamics

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