Finite-time angular velocity observers for rigid-body attitude tracking with bounded inputs

Gui, Haichao; Vukovich, George

doi:10.1002/rnc.3554

Cited by 55 publications

(50 citation statements)

References 29 publications

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“…If α 1 = α 2 = 1, controller (8) becomes u = À k 1 e 0 e v À k 2 sat(ω e /p 2 (t)) + u d , which ensures uniform almost global asymptotic stability of Z 0 , as shown in [25]. In addition, the nontrivial unstable equilibria are…”

Section: Remarkmentioning

confidence: 96%

“…Because initial conditions convergent to the unstable equilibria

\cup_{i \in I_{3}} Z_{i}

form a subset of measure zero, the probability of entering such a set is zero, and for practical purposes, this possibility can be ignored. Moreover, perturbations such as external disturbances can drive the spacecraft attitude away from the unstable equilibria.Remark If α 1 = α 2 = 1, controller (8) becomes u = − k 1 e 0 e v − k 2 sat( ω e / p 2 ( t )) + u d , which ensures uniform almost global asymptotic stability of

Z_{0}

, as shown in . In addition, the nontrivial unstable equilibria are

Z_{4} = ({}, ((),, e, {boldω}_{e}) \in S^{3} \times ℝ^{3} : bolde \in Q_{4}, ω_{e} = 0)

, where

Q_{4} = ({}, bolde \in S^{3} : (‖‖, {bolde}_{v}) = 1)

.…”

Section: Control Design With Integral Terminal Sliding Modementioning

confidence: 98%

“…When d = 0 and J is precisely known, a NPDC was developed in via homogeneous techniques to stabilize

Z_{0}

in finite time, as summarized in the following lemma.Lemma Consider the system given by (5) and (6) with d = 0. Let the control input u be prescribed by the following:

boldu = prefix- k_{1} G^{T} ((), {bolde}_{v}) {sgn}^{α_{1}} ((), {bolde}_{v}) - k_{2} {normals normala normalt}_{α_{2}} ((), ω_{e} true/ p^{2} ((), t)) + u_{d}

where k 1 , k 2 > 0, 0 < α 1 < 1, and α 2 = 2 α 1 /(1 + α 1 ); and p 2 ( t ) is a positive sharpness function satisfying

0 < p_{\min}^{2} \leq p^{2} ((), t) < \infty

and

\overset{p}{true} ((), t) \in ℒ_{\infty}

, where p min is a constant.…”

Section: Preliminaries and Mathematical Modelsmentioning

confidence: 99%

“…When d = 0 and J is precisely known, a NPDC was developed in [25] via homogeneous techniques to stabilize Z 0 in finite time, as summarized in the following lemma.…”

Section: Attitude Kinematics and Dynamicsmentioning

confidence: 99%

“…The terminal sliding mode (TSM) method belongs to the former but has a singularity problem . In contrast, the homogeneous method is singularity free but cannot deal with parametric uncertainties and unknown disturbances . The TSM method has been used to design fault‐free and fault‐tolerant attitude control laws.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

Gui

Vukovich

2017

Intl J Robust & Nonlinear

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Summary The attitude tracking of a rigid spacecraft is approached in the presence of uncertain inertias, unknown disturbances, and sudden actuator faults. First, a novel integral terminal sliding mode (ITSM) is designed such that the sliding motion realizes the action of a quaternion‐based nonlinear proportional‐derivative controller. More precisely, on the ITSM, the attitude dynamics behave equivalently to an uncertainty‐free system, and finite‐time convergence of the tracking error is achieved almost globally. A basic ITSM controller is then designed to ensure the ITSM from onset when an upper bound on the system uncertainties is known. Further, to remove this requirement, adaptive techniques are employed to compensate for the uncertainties, and the resultant adaptive ITSM controller stabilizes the system states to a small neighborhood around the sliding surface in finite time. The proposed schemes avoid the singularity intrinsic to terminal sliding mode‐based controllers and the unwinding phenomenon associated with some quaternion‐based controllers. Numerical examples demonstrate the advantageous features of the proposed algorithm. Copyright © 2017 John Wiley & Sons, Ltd.

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Section: Remarkmentioning

confidence: 96%

“…Because initial conditions convergent to the unstable equilibria

\cup_{i \in I_{3}} Z_{i}

Z_{0}

, as shown in . In addition, the nontrivial unstable equilibria are

Z_{4} = ({}, ((),, e, {boldω}_{e}) \in S^{3} \times ℝ^{3} : bolde \in Q_{4}, ω_{e} = 0)

, where

Q_{4} = ({}, bolde \in S^{3} : (‖‖, {bolde}_{v}) = 1)

.…”

Section: Control Design With Integral Terminal Sliding Modementioning

confidence: 98%

“…When d = 0 and J is precisely known, a NPDC was developed in via homogeneous techniques to stabilize

Z_{0}

in finite time, as summarized in the following lemma.Lemma Consider the system given by (5) and (6) with d = 0. Let the control input u be prescribed by the following:

boldu = prefix- k_{1} G^{T} ((), {bolde}_{v}) {sgn}^{α_{1}} ((), {bolde}_{v}) - k_{2} {normals normala normalt}_{α_{2}} ((), ω_{e} true/ p^{2} ((), t)) + u_{d}

where k 1 , k 2 > 0, 0 < α 1 < 1, and α 2 = 2 α 1 /(1 + α 1 ); and p 2 ( t ) is a positive sharpness function satisfying

0 < p_{\min}^{2} \leq p^{2} ((), t) < \infty

and

\overset{p}{true} ((), t) \in ℒ_{\infty}

, where p min is a constant.…”

Section: Preliminaries and Mathematical Modelsmentioning

confidence: 99%

“…When d = 0 and J is precisely known, a NPDC was developed in [25] via homogeneous techniques to stabilize Z 0 in finite time, as summarized in the following lemma.…”

Section: Attitude Kinematics and Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

Gui

Vukovich

2017

Intl J Robust & Nonlinear

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Two‐Layer Terminal Sliding Mode Attitude Control of Satellites Equipped with Reaction Wheels

Bayat

Javaheri

2018

Asian Journal of Control

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This paper addresses the global stability and robust attitude tracking problem of a near polar orbit satellite subject to unknown disturbances and uncertainties. It is assumed that the satellite is fully actuated by a set of reaction wheels (RW) as control actuators because of their relative simplicity, versatility and high accuracy. The terminal sliding mode control (TSMC) approach is utilized in a two-level architecture to achieve control objectives. In the lower layer a detumbling-like controller is designed which guarantees the finite-time detumbling and tracking of the desired angular velocities and based on this result a robust attitude tracking controller is designed in the upper layer to achieve 3-axis attitude tracking in the presence of unknown disturbances and bounded uncertainties. Robust stability and tracking properties of designed controllers are proved using the Lyapunov theory. Finally, a set of numerical simulation results are provided to illustrate the effectiveness and performance of the proposed control method.

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Adaptive backstepping control for autonomous shipboard landing of a quadrotor with input saturation

Huang

Zhu

Sun

et al. 2020

Asian Journal of Control

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This paper presents a novel autonomous shipboard landing control algorithm of a quadrotor subject to external disturbances and input saturation. A coupled six-degrees-of-freedom (6-DOF) nonlinear relative motion model is derived to facilitate the controller design. To overcome the under-actuated property of the quadrotor and avoid collision, the shipboard landing process is cooperatively completed by a relative position controller (RPC) and a relative attitude-altitude controller (RAC). The RPC is proposed for use when the quadrotor is far away from the ship, aiming to drive the quadrotor to the vicinity of the ship. The RAC is used for the situation when the quadrotor is close enough to the ship to land the quadrotor on the ship steadily. An adaptive backstepping technique is proposed for both RPC and RAC, where unknown bounds of the lump disturbances are estimated online by the adaptive laws. To satisfy the input constraint requirement, a smooth model is employed to describe the control input saturation. Stability analysis proves that all states of the closed-loop systems are uniformly ultimately bounded. A numerical example verifies the performance of the control approach.

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Finite-time angular velocity observers for rigid-body attitude tracking with bounded inputs

Cited by 55 publications

References 29 publications

Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

Adaptive fault‐tolerant spacecraft attitude control using a novel integral terminal sliding mode

Two‐Layer Terminal Sliding Mode Attitude Control of Satellites Equipped with Reaction Wheels

Adaptive backstepping control for autonomous shipboard landing of a quadrotor with input saturation

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