Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

Zhang, Jianqiao; Ye, Dong; Sun, Zhiyong; Liu, Chuang

doi:10.1016/j.actaastro.2017.11.034

Cited by 51 publications

(41 citation statements)

References 26 publications

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“…where p x , p y , p z are the components of p, J 2 = 0:00108263, and R e = 6378km is the equatorial radius of the Earth. By employing the coadjoint operator of se 3, combining the gravity moment and force on the spacecraft given by (10), and combining the moment of inertia and mass, the rotational and translational dynamics equation (9) can be expressed in a compact form as [8]…”

Section: Eci Framementioning

confidence: 99%

“…The fixed-time control for spacecraft modeled on SE(3) in this study is firstly proposed, and the adaptive update law for inertial parameters is firstly extended from dual quaternion to SE(3). The modified fixed-time terminal sliding controller achieves a faster convergence rate than finite-time one (AFinite) for spacecraft relative motion in [9][10][11][12]. Moreover, the proposed modified controller (AMFixed) in this study can reach higher accuracy than the conventional one (AFixed) even the inertia parameters and disturbances are not accurately identified.…”

Section: Introductionmentioning

confidence: 99%

“…Different from the separated control strategy, spacecraft proximity operation needs a precise integral control strategy of coupled 6-DOF motion for the chaser spacecraft [4]. Modeling of coupled rotational and translational relative motions of rigid spacecraft has been receiving great interests in recent years based on different forms, such as dual quaternion [4][5][6][7], three-dimensional (3-D) Euclidean space (Lie group SE(3)) [8][9][10][11], 6-DOF Euler-Lagrange form [12] (translational motion described in LVLH (local-verticallocal-horizontal) frame and rotational motion described by MRPs (modified Rodrigues parameters)) or other forms [13][14][15][16][17][18] (translational motion described in body-fixed frame or LOS (line-of-sight) frame and rotational motion described by MRPs). However, dual quaternion inherits the ambiguities intrinsic of quaternion, which may cause unwinding problem.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Fixed-Time Terminal Sliding Mode Control on SE(3) for Coupled Spacecraft Tracking Maneuver

Gong

Liao

Wang

2020

International Journal of Aerospace Engineering

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In this paper, a reaching law-based adaptive fixed-time terminal sliding mode control law, which is used for coupled spacecraft tracking maneuver in the presence of large inertia parametric uncertainties and external disturbances, is proposed. The coupled 6-DOF kinematics and dynamics for spacecraft motion are modeled on Lie group SE(3). The relative configuration is expressed by a local coordinate (exponential coordinate) of SE(3). In order to estimate the inertia parameters and external disturbances, we also propose a novel adaptive update law, which can make the control law be applied without the inertia parameters of the spacecraft a priori. Fixed-time convergence property of the closed-loop feedback system is proved in the framework of Lyapunov. Numerical simulations are performed to demonstrate the performances of the proposed control scheme for coupled spacecraft tracking maneuver.

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Section: Eci Framementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Fixed-Time Terminal Sliding Mode Control on SE(3) for Coupled Spacecraft Tracking Maneuver

Gong

Liao

Wang

2020

International Journal of Aerospace Engineering

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“…erefore, the finite-time convergence of the closed-loop system, mentioned in eorem 2, is proved on the basis of eorem 1. Some studies containing ESO-NTSMC analyzed the total finite-time convergence of the closed-loop system in the same way [32,33].…”

Section: Theorem 1 Suppose the Parameters Of Eso In Equationmentioning

confidence: 99%

“…Ran et al [32] proposed an adaptive SOSM-based ESO with fault-tolerant NTSMC for the model uncertainty, external disturbance, and limited actuator control during spacecraft attitude control. Zhang et al [33] presented an adaptive fast NTSMC using estimated information by SOSM-based ESO to solve the problem of spacecraft 6-DOF coupled tracking maneuver in the presence of model uncertainties and actuator misalignment. Moreno and Osori [25] gave a Lyapunov finitetime stability proof for a closed-loop system combining SOSM controller and ESO.…”

Section: Introductionmentioning

confidence: 99%

Extended-State-Observer-Based Terminal Sliding Mode Tracking Control for Synchronous Fly-Around with Space Tumbling Target

Chen

Zhao

Bai

et al. 2019

Mathematical Problems in Engineering

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This paper presents a robust controller with an extended state observer to solve the Synchronous Fly-Around problem of a chaser spacecraft approaching a tumbling target in the presence of unknown uncertainty and bounded external disturbance. The rotational motion and time-varying docking trajectory of tumbling target are given in advance and referred as the desired tracking objective. Based on dual quaternion framework, a six-degree-of-freedom coupled relative motion between two spacecrafts is modeled, in which the coupling effect, model uncertainties, and external disturbances are considered. More specially, a novel nonsingular terminal sliding mode is designed to ensure the convergence to the desired trajectory in finite time. Based on the second-order sliding mode, an extended state observer is employed to the controller to compensate the closed-loop system. By theoretical analysis, it is proved that the modified extended-state-observer-based controller guarantees the finite-time stabilization. Numerical simulations are taken to show the effectiveness and superiority of the proposed control scheme. Finally, Synchronous Fly-Around maneuvers can be accomplished with fast response and high accuracy.

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Adaptive active disturbance rejection control guaranteeing uniformly ultimate boundedness and simplicity

Nie

Zhang

Wang

et al. 2020

Intl J Robust & Nonlinear

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The active disturbance rejection control (ADRC) scheme requires a high bandwidth in the extended state observer (ESO), causing heavy noise pollution in the control system. This article develops an effective and simple adaptive ADRC scheme to realize high performance control when ESO bandwidth is limited. The adaptative law is generated by the state tracking error such that all the feedback loops and feedforward channels are activated for active disturbance rejection. An "attached" and "quantified" adaptation is developed to guarantee the easy usage of the proposed scheme. The uniformly ultimate boundedness of all the signals in the closed-loop system is proved in the sense of Lyapunov theory. Finally, two simulation examples are given to demonstrate the results.

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Extended state observer based robust adaptive control on SE(3) for coupled spacecraft tracking maneuver with actuator saturation and misalignment

Cited by 51 publications

References 26 publications

Adaptive Fixed-Time Terminal Sliding Mode Control on SE(3) for Coupled Spacecraft Tracking Maneuver

Adaptive Fixed-Time Terminal Sliding Mode Control on SE(3) for Coupled Spacecraft Tracking Maneuver

Extended-State-Observer-Based Terminal Sliding Mode Tracking Control for Synchronous Fly-Around with Space Tumbling Target

Adaptive active disturbance rejection control guaranteeing uniformly ultimate boundedness and simplicity

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