Robust attitude tracking control of spacecraft under control input magnitude and rate saturations

Zou, An‐Min; Kumar, Krishna Dev; Ruiter, Anton H. J. de

doi:10.1002/rnc.3338

Cited by 77 publications

(48 citation statements)

References 30 publications

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“…Property The inertia matrix J , which is symmetric and positive definite, satisfies the following bounded condition:

λ_{J \min} | | x | {false|}^{2} \leq {bold-italicx}^{⊤} Jx \leq λ_{J \max} | | x | {false|}^{2}, \forall x \in {boldR}^{3 \times 1},

where λ J min and λ J max are positive constants …”

Section: Preliminariesmentioning

confidence: 99%

“…where Jmin and Jmax are positive constants. 2 A lemma 27 is introduced here, which will be applied in stability proof.…”

Section: Assumption 2 Define the Lump Disturbances Asmentioning

confidence: 99%

“…A variety of control strategies have been proposed for the attitude maneuver control cases of rigid spacecraft [1][2][3][4][5] and flexible ones. [6][7][8][9][10] Although the attitude maneuver performance has been greatly improved with the aforementioned techniques, it is assumed that a torque can be directly applied to the spacecraft when designing the controllers, which may not be suitable and precise in practical application.…”

Section: Introductionmentioning

confidence: 99%

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Robust adaptive attitude control for flexible spacecraft in the presence of SGCMG friction nonlinearity

Wang

Zhong²,

Guo

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper investigates attitude maneuver control issues of a flexible spacecraft with pyramid‐type single gimbaled control moment gyroscopes (SGCMGs) as the actuator. The LuGre friction model is adopted to precisely describe the nonlinearity of the SGCMG gimbal friction. Aiming at restraining the adverse effects of the friction existed in SGCMG on the attitude control performance, a robust adaptive attitude controller is proposed, and projection‐based adaptive laws are presented to estimate the friction parametric uncertainties and the bound of friction nonlinearity. By treating the flexible mode coupling effect and external disturbances as lump disturbances, the inertia uncertainties and the bound of the lump disturbances are also estimated and compensated simultaneously to reduce their adverse effect on the system. With the Lyapunov technique, the states of flexible spacecraft control system are proved to be uniformly ultimately bounded. Numerical simulations demonstrate the effectiveness of the proposed scheme.

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“…Property The inertia matrix J , which is symmetric and positive definite, satisfies the following bounded condition:

λ_{J \min} | | x | {false|}^{2} \leq {bold-italicx}^{⊤} Jx \leq λ_{J \max} | | x | {false|}^{2}, \forall x \in {boldR}^{3 \times 1},

where λ J min and λ J max are positive constants …”

Section: Preliminariesmentioning

confidence: 99%

“…where Jmin and Jmax are positive constants. 2 A lemma 27 is introduced here, which will be applied in stability proof.…”

Section: Assumption 2 Define the Lump Disturbances Asmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust adaptive attitude control for flexible spacecraft in the presence of SGCMG friction nonlinearity

Wang

Zhong²,

Guo

et al. 2018

Intl J Robust & Nonlinear

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show abstract

“…At present, some methods, such as linear matrix inequality (LMI) [22][23][24] and the hyperbolic tangent function [25][26][27][28], have been used to deal with the control input constraint problem. In [23], an anti-windup compensator was proposed, which utilized LMI to deal with the input saturation problem for linear systems.…”

Section: Introductionmentioning

confidence: 99%

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

Wang

Shi

Liu

et al. 2018

Asian Journal of Control

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In this paper, we investigate the trajectory tracking problems of the link angle and angle speed of the flexible joint manipulator model based on external disturbance, the control input and rate constraints. The controller of the flexible joint manipulator model is designed using the backstepping control scheme.To achieve this objective, the smooth hyperbolic tangent function is used to solve the problems of control input and rate constraints, and the stability is proved using Lyapunov function in the design procedure of the backstepping control scheme. Finally, the effectiveness of the proposed backstepping controller is verified by numerical simulation. of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints. Asian J

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“…Backstepping technique provides a systematic approach for construction of Lyapunov functions to a broad class of strict-feedback nonlinear systems. Because of its simple configuration and ease of implementation, this control strategy has been widely applied to various control systems, such as attitude control systems [26], robot manipulators [27], unmanned aerial vehicles [28], and multiagent systems [29]. However, there is one main issue with this method, that is, the explosion of complexity caused by the need of the derivatives of the designed virtual input.…”

Section: Introductionmentioning

confidence: 99%

ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties

Zhang

2016

Int. J. Robust. Nonlinear Control

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This paper deals with the task-space trajectory tracking control problem of robot manipulators. An improved adaptive backstepping controller is proposed to deal with the uncertainties in kinematics, dynamics, and actuator modeling. To avoid the explosion of computation in conventional backstepping techniques, a modified dynamic surface control algorithm is proposed, which guarantees the asymptotic convergence rather than the uniformly ultimately boundedness of tracking errors in conventional dynamic surface control methods. Furthermore, the expression of the L 2 norm of tracking errors is explicitly derived in relation to the controller parameters, which provides instructions on tuning controller parameters to adjust the system performance. Moreover, the passivity structure of the designed adaptation law is thoroughly analyzed. Simulation of a free-floating space robot is used to verify the effectiveness of the proposed control strategy in comparison with the conventional tracking control schemes.

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Robust attitude tracking control of spacecraft under control input magnitude and rate saturations

Cited by 77 publications

References 30 publications

Robust adaptive attitude control for flexible spacecraft in the presence of SGCMG friction nonlinearity

Robust adaptive attitude control for flexible spacecraft in the presence of SGCMG friction nonlinearity

Backstepping control of flexible joint manipulator based on hyperbolic tangent function with control input and rate constraints

ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties

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