Global set stabilization of the spacecraft attitude control problem based on quaternion

Li, Shihua; Ding, Shihong; Li, Qi

doi:10.1002/rnc.1423

Cited by 79 publications

(31 citation statements)

References 34 publications

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“…The dynamic model of a rigid spacecraft is [10] Jω = −ω × Jω + sat(u) +ū + d (5) where J ∈ R 3×3 is the inertial matrix expressed in the body frame, τ ∈ R 3 and d ∈ R 3 are the control torques generated by reaction wheels and bounded external disturbances, respectively. ω × is the skew-symmetric matrix acting on the vector ω = [ω 1 , ω 2 , ω 3 ] T and has the similar form of σ × .…”

Section: A Attitude Kinematics and Dynamicsmentioning

confidence: 99%

See 1 more Smart Citation

Fuzzy Adaptive Fault-Tolerant Output Feedback Attitude-Tracking Control of Rigid Spacecraft

Huo

Xia

Yin

et al. 2017

IEEE Trans. Syst. Man Cybern, Syst.

102

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This paper proposes a stable adaptive fuzzy faulttolerant attitude-tracking controller for a rigid spacecraft in the presence of unavailable velocities, external disturbance, actuator faults, and actuator saturation. Fuzzy logic systems are applied to approximate the unknown nonlinear function vector, and a fuzzy adaptive observer is designed to estimate the unmeasured velocity of the rigid body. By using the backstepping technique, a novel adaptive fuzzy attitude-tracking fault-tolerant control scheme is developed. It has been testified that this control approach guarantees that all signals of the rigid spacecraft are bounded and the tracking error between the system output and the reference signal converges to a small neighborhood of zero. Simulation examples with constant faults and time-variant faults are provided to show the fault-tolerant effectiveness of the control method.Index Terms-Actuator faults, actuator saturation, adaptive fuzzy control, attitude tracking, fault-tolerant control (FTC).

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Section: A Attitude Kinematics and Dynamicsmentioning

confidence: 99%

“…An output feedback attitude control approach in the special quaternion coordinate space was proposed in [8]. The controllers in [9] and [10] just considered the quaternion as the only available state. The design of velocity-free attitude-tracking control scheme in [11] did not use the information of inertia matrix and external disturbances.…”

mentioning

confidence: 99%

Fuzzy Adaptive Fault-Tolerant Output Feedback Attitude-Tracking Control of Rigid Spacecraft

Huo

Xia

Yin

et al. 2017

IEEE Trans. Syst. Man Cybern, Syst.

102

View full text Add to dashboard Cite

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“…In numerical computations, this parameter can be chosen to be the ratio of two consecutive odd integers such that its value is in the interval (1,2). Note that the signum function is not needed in the definition of the control torque, unlike the schemes in , for example, because the powers of only positive‐definite quantities occur in the control law, the Lyapunov function, and its time derivative along the feedback system. This is a practically useful property that follows from the framework given in for continuous finite‐time stabilization of mechanical systems with multiple degrees of freedom.…”

Section: Finite‐time Attitude Stabilizationmentioning

confidence: 99%

“…In addition, low‐level persistent disturbances are better rejected by a finite‐time stable system in comparison with an asymptotically stable system, because the ultimate bound on the state is of higher order than the bound on the disturbance . Continuous finite‐time stability has been dealt with in , for example, while discontinuous sliding mode control schemes that also provide finite‐time stability have been extensively researched in the past . In addition, chatter‐free sliding mode control schemes exist and have also been applied to attitude control using unit quaternions .…”

Section: Introductionmentioning

confidence: 99%

Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices

Bohn

Sanyal

2015

Int. J. Robust. Nonlinear Control

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Summary This work considers continuous finite‐time stabilization of rigid body attitude dynamics using a coordinate‐free representation of attitude on the Lie group of rigid body rotations in three dimensions, SO(3). Using a Hölder continuous Morse–Lyapunov function, a finite‐time feedback stabilization scheme for rigid body attitude motion to a desired attitude with continuous state feedback is obtained. Attitude feedback control with finite‐time convergence has been considered in the past using the unit quaternion representation. However, it is known that the unit quaternion representation of attitude is ambiguous, with two antipodal unit quaternions representing a single rigid body attitude. Continuous feedback control using unit quaternions may therefore lead to the unstable unwinding phenomenon if this ambiguity is not resolved in the control design, and this has adverse effects on actuators, settling time, and control effort expended. The feedback control law designed here leads to almost global finite‐time stabilization of the attitude motion of a rigid body with Hölder continuous feedback to the desired attitude. As a result, this control scheme avoids chattering in the presence of measurement noise, does not excite unmodeled high‐frequency structural dynamics, and can be implemented with actuators that can only provide continuous control inputs. Numerical simulation results for a spacecraft in low Earth orbit, obtained using a Lie group variational integrator, confirm the theoretically obtained stability and robustness properties of this attitude feedback stabilization scheme. Copyright © 2015 John Wiley & Sons, Ltd.

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“…Tracking performance optimization is studied extensively in finite‐time control related to the technique work demonstrated by Li et al, and the advantages of finite‐time tracking control are fast convergence properties in high accuracy within the origin areas. Terminal SMC (TSMC) was developed to guarantee finite‐time optimization control by introducing nonlinear sliding‐mode manifolds .…”

Section: Introductionmentioning

confidence: 99%

Fast terminal sliding‐mode finite‐time tracking control with differential evolution optimization algorithm using integral chain differentiator in uncertain nonlinear systems

Zhang

Krause

2017

Intl J Robust & Nonlinear

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SummaryThis paper presents a fast terminal sliding-mode tracking control for a class of uncertain nonlinear systems with unknown parameters and system states combined with time-varying disturbances. Fast terminal sliding-mode finite-time tracking systems based on differential evolution algorithms incorporate an integral chain differentiator (ICD) to feedback systems for the estimation of the unknown system states. The differential evolution optimization algorithm using ICD is also applied to a tracking controller, which provides unknown parametric estimation in the limitation of unknown system states for trajectory tracking. The ICD in the tracking systems strengthens the tracking controller robustness for the disturbances by filtering noises. As a powerful finite-time control effort, the fast terminal sliding-mode tracking control guarantees that all tracking errors rapidly converge to the origin. The effectiveness of the proposed approach is verified via simulations, and the results exhibit high-precision output tracking performance in uncertain nonlinear systems. KEYWORDS differential evolution, differentiator, nonlinear systems, terminal sliding mode, tracking | INTRODUCTIONSliding-mode control (SMC) is an efficient control scheme and has been widely applied in nonlinear systems. Sliding-mode control has many attractive features such as insensitivity to the model errors and parametric uncertainties.1,2 Given its advantages, SMC provides powerful techniques to complicated nonlinear dynamic systems for tracking control, including robotic manipulator systems, 3 active suspension vehicle systems, 4 induction motor drive systems, 5,6 power systems, 7 and spacecraft systems. The tracking problems using evolutionary optimization in complicated nonlinear systems attract much more attention. Evolutionary optimization algorithms are considered as a powerful optimization tool in solving nonlinear and complicated search spaces.9 Sliding-mode control combined with evolutionary optimization algorithms is presented to improve the tracking performances for complicated nonlinear systems, such as genetic algorithms 10 and particle swarm algorithms. 11,12 These methods have difficulty solving a class of nonlinear tracking problems of unknown system states with time-varying disturbances, which causes an impact on the convergence and stability of the tracking systems.In limited situations, the system states are unknown and needs to be estimated. Along with time-varying disturbances, the differential evolution (DE) optimization algorithm using an integral chain differentiator (ICD) proposed in

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Global set stabilization of the spacecraft attitude control problem based on quaternion

Cited by 79 publications

References 34 publications

Fuzzy Adaptive Fault-Tolerant Output Feedback Attitude-Tracking Control of Rigid Spacecraft

Fuzzy Adaptive Fault-Tolerant Output Feedback Attitude-Tracking Control of Rigid Spacecraft

Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices

Fast terminal sliding‐mode finite‐time tracking control with differential evolution optimization algorithm using integral chain differentiator in uncertain nonlinear systems

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