High-Precision Attitude Tracking Control of Space Manipulator System Under Multiple Disturbances

2020 ◽  
pp. 1-11
Author(s):  
Jianzhong Qiao ◽  
Hao Wu ◽  
Xiang Yu
Keyword(s):  
High Precision ◽  
Tracking Control ◽  
Space Manipulator ◽  
Multiple Disturbances ◽  
Attitude Tracking ◽  
Attitude Tracking Control

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

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