scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

Finite-time fault-tolerant attitude tracking control for spacecraft without unwinding

2018 ◽  
Vol 233 (6) ◽  
pp. 2119-2130 ◽  
Author(s):  
Bing Huang ◽  
Ai-jun Li ◽  
Yong Guo ◽  
Chang-qing Wang ◽  
Jin-hua Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Control Schemes ◽  
Fast Terminal Sliding Mode ◽  
Attitude Tracking Control

This paper investigates the finite-time attitude tracking control problem for spacecraft in the presence of external disturbances and actuator faults. Two anti-unwinding attitude tracking control schemes have been proposed based on the rotation matrix and sliding mode control technology. Utilizing a fast terminal sliding mode surface, the first controller can fulfill the finite-time attitude tracking control task with disturbance rejection ability. The second controller can improve the system reliability when the actuator fault occurs. Rigorous mathematical analysis and proof concludes that the proposed controllers can make a spacecraft track the desired attitude command in finite time. Numerical simulation results are presented to demonstrate the effectiveness of the proposed controllers.

Adaptive fault-tolerant control for hybrid attitude tracking control system with quantized control torque and measurement

2020 ◽  
pp. 095441002095330
Author(s):  
Min Li ◽  
Yingchun Zhang ◽  
Yunhai Geng
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Control Torque ◽  
External Disturbances ◽  
Quantized Control ◽  
Attitude Tracking ◽  
Attitude Tracking Control

In this paper, the problem of fault tolerant control for spacecraft attitude tracking control system in the presence of actuator faults/failures, quantized control torque and measurement, uncertain inertial matrix and external disturbances is taken into account. The dynamical uniform quantizers are developed to quantize the signals of control torque and measurement, which can reduce the data transmission rate. In combination with the CA and FTC technique, a robust adaptive fault tolerant control scheme is proposed to cope with the effects of quantization errors in control torque and measurement, the unknown actuator faults/failures, uncertain inertial matrix and external disturbances. The developed control strategy combined with quantized control torque and measurement can guarantee the stability of overall closed-loop system and achieve satisfactory attitude tracking performance. Finally, simulation results are presented to verify the effectiveness of the proposed methods.

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.

Robust finite-time trajectory tracking control for a space manipulator with parametric uncertainties and external disturbances

2021 ◽  
pp. 095441002110147
Author(s):  
Qijia Yao
Keyword(s):  
Trajectory Tracking ◽  
Finite Time ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Control Method ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Space Manipulator ◽  
Tracking Controller

Space manipulator is considered as one of the most promising technologies for future space activities owing to its important role in various on-orbit serving missions. In this study, a robust finite-time tracking control method is proposed for the rapid and accurate trajectory tracking control of an attitude-controlled free-flying space manipulator in the presence of parametric uncertainties and external disturbances. First, a baseline finite-time tracking controller is designed to track the desired position of the space manipulator based on the homogeneous method. Then, a finite-time disturbance observer is designed to accurately estimate the lumped uncertainties. Finally, a robust finite-time tracking controller is developed by integrating the baseline finite-time tracking controller with the finite-time disturbance observer. Rigorous theoretical analysis for the global finite-time stability of the whole closed-loop system is provided. The proposed robust finite-time tracking controller has a relatively simple structure and can guarantee the position and velocity tracking errors converge to zero in finite time even subject to lumped uncertainties. To the best of the authors’ knowledge, there are really limited existing controllers can achieve such excellent performance under the same conditions. Numerical simulations illustrate the effectiveness and superiority of the proposed control method.

Adaptive neural fault-tolerant control for course tracking of unmanned surface vehicle with event-triggered input

2021 ◽  
pp. 095965182110131
Author(s):  
Guoqing Zhang ◽  
Shen Gao ◽  
Jiqiang Li ◽  
Weidong Zhang
Keyword(s):  
Neural Control ◽  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Adaptive Parameters ◽  
Control Gain ◽  
Event Triggered

This study investigates the course-tracking problem for the unmanned surface vehicle in the presence of constraints of the actuator faults, control gain uncertainties, and environmental disturbance. A novel event-triggered robust neural control algorithm is proposed by fusing the robust neural damping technique and the event-triggered input mechanism. In the algorithm, no prior information of the system model about the unknown yawing dynamic parameters and unknown external disturbances is required. The transmission burden between the controller and the actuator could be relieved. Moreover, the control gain-related uncertainties and the unknown actuator faults are compensated through two updated online adaptive parameters. Sufficient effort has been made to verify the semi-global uniform ultimate bounded stability for the closed-loop system based on Lyapunov stability theory. Finally, simulation results are presented to illustrate the effectiveness and superiority of the proposed algorithm.

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Upper Bounds ◽  
Rigid Bodies ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Content Type ◽  
Attitude Synchronization

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

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