Sliding mode attitude tracking of rigid spacecraft with disturbances

A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton. Firstly, the humanrobot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg. Then, Vicon motion capture system is employed to obtain the reference trajectory. For the purpose of obviating the "explosion of complexity" in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy. The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances. Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.

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“…That is According to Barbalat Lemma proposed in [29], when the time variable tends to infinity, the error vector tends to zero.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…According to (29), the error vector is uniformly bounded, and lim →∞ ( ) = (∞). When integrating both sides of inequality (29), then…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

Command Filter Backstepping Sliding Model Control for Lower‐Limb Exoskeleton

Yang

Zhang

Wang

et al. 2017

Mathematical Problems in Engineering

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“…Then for the purpose of control system design, some definitions and lemmas are given from [10,11,18,35]. …”

Section: And Sign() Is the Sign Functionmentioning

confidence: 99%

“…It is clear that the sliding motion can converge to a neighborhood of the equilibrium in finite time, and then remain there by the reaching motion controller [18].…”

Section: Disturbance Observer Designmentioning

confidence: 99%

“…Ref. [18] proposed a class of SMC for the attitude tracking system applying DO to compensate for the uncertainties, which drove the states of the closed-loop system onto the sliding surface in finite time. In addition, the finite-time stabilization/convergence of the spacecraft attitude in the presence of disturbances has also been investigated/achieved in some other works [3,4,10,29].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation

2014

Aerospace Science and Technology

156

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Chattering Attenuation Sliding Mode Approach for Nonlinear Systems

Nemati

Bando

Hokamoto

2017

Asian Journal of Control

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This study introduces a new robust nonlinear control scheme based on the theory of nonsingular terminal sliding mode control (NTSMC). Since conventional NTSMC utilizes a discontinuous switching function, a significant flaw called chattering can occur. The main purpose of this study is to design a new switching function based upon Lyapunov stability in order to alleviate this drawback over time. There are many approaches to mitigate the chattering drawback in SMC such as utilizing a smooth approximation of the switching element, or employing higher order sliding mode control (HOSMC) strategy. However, the use of a continuous approximation affects the system's performance and a finite reaching time to the sliding manifold, and in HOSMC the estimation of high‐order derivatives of states is usually difficult and it still exhibits chattering in the presence of parasitic dynamics. In this study by employing a new sliding manifold including a time function, the chattering is attenuated as well as keeping the robustness. Finally, a second‐order nonlinear dynamical system subject to disturbance is simulated to highlight the validity and applicability of the proposed method.

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Sliding mode attitude tracking of rigid spacecraft with disturbances

Cited by 155 publications

References 41 publications

Command Filter Backstepping Sliding Model Control for Lower‐Limb Exoskeleton

Command Filter Backstepping Sliding Model Control for Lower‐Limb Exoskeleton

Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation

Chattering Attenuation Sliding Mode Approach for Nonlinear Systems

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