Robust Attitude Tracking Control of Spacecraft in the Presence of Disturbances

Li, Zhengxue; Wang, Benli

doi:10.2514/1.26230

Cited by 83 publications

(35 citation statements)

References 5 publications

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“…Compared with controllers based on linear SMC [2,27], the ANTSMC laws (11) and (31) using NTSMC improve the transient performance and avoid the singularity problem. It should be pointed out that the finite-time SMC techniques for spacecraft systems have been employed in some papers such as [15,16,[18][19][20].…”

Section: Remark 42mentioning

confidence: 99%

“…In this paper, we investigate this problem. The main contributions of this paper are the following: (i) three NTSMC laws are designed to achieve finite-time attitude stabilization, avoid the singularity problem that occurs in [15,16] and improve the transient performance compared with linear SMC laws in [2,3,27]; (ii) using adaptation [2,4,28], practical NTSMC laws are proposed requiring no information about inertia uncertainties and external disturbances that are enforced by existing finite-time controllers in [18][19][20]; and (iii) the ANTSMC laws are designed to guarantee finite-time convergence, and a rigorous proof is presented to resolve two drawbacks of that in [15]. This paper is organized as follows.…”

Section: Introductionmentioning

confidence: 99%

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Finite‐time attitude stabilization for rigid spacecraft

Xia

2013

Intl J Robust & Nonlinear

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This paper investigates the finite-time attitude stabilization problem for rigid spacecraft in the presence of inertia uncertainties and external disturbances. Three nonsingular terminal sliding mode (NTSM) controllers are designed to make the spacecraft system converge to its equilibrium point or a region around its equilibrium point in finite time. In addition, these novel controllers are singularity-free, and the presented adaptive NTSM control (ANTSMC) laws are chattering-free. A rigorous proof of finite-time convergence is developed. The proposed ANTSMC algorithms combine NTSM, adaptation and a constant plus power rate reaching law. Because the algorithms require no information about inertia uncertainties and external disturbances, they can be used in practical systems, where such knowledge is typically unavailable. Simulation results support the theoretical analysis.here, the unit quaternion .q v , q 4 / 2 R 3 R represents the attitude orientation of the spacecraft and satisfies the constraint q T v q v C q 2 4 D 1, where q v WD OEq 1 , q 2 , q 3 T 2 R 3 is the vector part and q 4 2 R is the scalar component. J 2 R 3 3 is the symmetric inertia matrix of the spacecraft, D OE 1 , 2 , 3 T 2 R 3 is the angular velocity of the spacecraft, u 2 R 3 and d 2 R 3 are the control torques and the external unknown disturbances including environmental disturbances, solar radiation and magnetic effects. is an operator on any vector a D OEa 1 a 2 a 3 T . Lemma 3.4 Consider the spacecraft system (1)-(2), for the NTSMS (3) satisfying S.t/ D 0. Then ¹q v .t / Á 0, q 4 .t / Á 1, .t / Á 0º can be reached in finite time. ProofSee A1 in Appendix. Assumption 3.1As in [7], we assume that the inertia matrix in (2) is in the form of J D J 0 CJ , where J 0 , selected nonsingular, is the known constant matrix and J denotes the uncertainties satisfying kJ k 6 J ı with J ı > 0 as an unknown upper bound. Assumption 3.2The external disturbances d.t/ in (2) are assumed to be bounded as kd.t/k 6 d ı , where d ı is an unknown positive constant.

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Section: Remark 42mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Finite‐time attitude stabilization for rigid spacecraft

Xia

2013

Intl J Robust & Nonlinear

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“…Consequently, it follows that ( L + B ) ⊗ I 3 is positive definite and nonsingular. Because ( L + B ) ⊗ I 3 is nonsingular, on the sliding mode surface S = 0, yields

\overset{Ω}{true} MathClass-bin+ \overset{C}{true} Q MathClass-rel= 0 MathClass-punc,

which is equivalent to

{\overset{ω}{true}}_{i} MathClass-bin+ C q_{i} MathClass-rel= 0 MathClass-punc, i MathClass-rel= 1 MathClass-punc, MathClass-rel\dots MathClass-punc, n MathClass-punc.

As proved in , the above equation implies that

\underset{normallim}{msub} (∥∥, {\overset{ω}{true}}_{i}) MathClass-rel= \underset{normallim}{msub} (∥∥, q_{i}) MathClass-rel= 0 MathClass-punc, i MathClass-rel= 1 MathClass-punc, MathClass-rel\dots MathClass-punc, n MathClass-punc.

It can be concluded that on the multispacecraft sliding mode surface S = 0, the attitude error and angular velocity error of each spacecraft will converge to zero as t → ∞ .□…”

Section: Multispacecraft Sliding Manifoldmentioning

confidence: 68%

Decentralized sliding‐mode control for attitude synchronization in spacecraft formation

Wang

Poh

2012

Intl J Robust & Nonlinear

113

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This paper addresses attitude synchronization and tracking problems in spacecraft formation in the presence of model uncertainties and external disturbances. A decentralized adaptive sliding mode control law is proposed using undirected interspacecraft communication topology and analyzed based on algebraic graph theory. A multispacecraft sliding manifold is derived, on which each spacecraft approaches desired timevarying attitude and angular velocity while maintaining attitude synchronization with the other spacecraft in the formation. A control law is then developed to ensure convergence to the sliding manifold. The stability of the resulting closed-loop system is proved by application of Barbalat's Lemma. Simulation results demonstrate the effectiveness of the proposed attitude synchronization and tracking methodology. Copyright

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“…[7], on the sliding surface 0 s = , the attitude error and angular velocity error will tend to zero as t → ∞ , i.e.,…”

Section: Adaptive Sliding Mode Controllers Designmentioning

confidence: 99%