scholarly journals Finite-Time Stabilization Control for a Rigid Spacecraft under Parameter Uncertainties

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Aihua Zhang ◽  
Jianfei Ni ◽  
Xing Huo
Keyword(s):  
Finite Time ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Attitude Stabilization ◽  
Stabilization Control ◽  
Time Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Homogeneous Method ◽  
Rigid Spacecraft

A novel finite-time control scheme is investigated for a rigid spacecraft in present of parameter uncertainties and external disturbances. Firstly, the spacecraft mathematical model is transformed into a cascading system by introducing an adaptive variable. Then a novel finite-time attitude stabilization control scheme for a rigid spacecraft is proposed based on the homogeneous method. Lyapunov stability analysis shows that the resulting closed-loop attitude system is proven to be stable in finite time without parameter uncertainties and asymptotically stable with parameter uncertainties. Finally, numerical simulation examples are also presented to demonstrate that the control strategy developed is feasible and effective for spacecraft attitude stabilization mission.

scholarly journals RBFNN-Based Singularity-Free Terminal Sliding Mode Control for Uncertain Quadrotor UAVs

2021 ◽  
Vol 2021 ◽  
pp. 1-10 ◽  
Author(s):  
Meiling Tao ◽  
Xiongxiong He ◽  
Shuzong Xie ◽  
Qiang Chen
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Auxiliary Function ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Time Control ◽  
Control Scheme ◽  
Unknown Disturbances ◽  
Quadrotor Unmanned Aerial Vehicles

In this article, a singularity-free terminal sliding mode (SFTSM) control scheme based on the radial basis function neural network (RBFNN) is proposed for the quadrotor unmanned aerial vehicles (QUAVs) under the presence of inertia uncertainties and external disturbances. Firstly, a singularity-free terminal sliding mode surface (SFTSMS) is constructed to achieve the finite-time convergence without any piecewise continuous function. Then, the adaptive finite-time control is designed with an auxiliary function to avoid the singularity in the error-related inverse matrix. Moreover, the RBFNN and extended state observer (ESO) are introduced to estimate the unknown disturbances, respectively, such that prior knowledge on system model uncertainties is not required for designing attitude controllers. Finally, the attitude and angular velocity errors are finite-time uniformly ultimately bounded (FTUUB), and numerical simulations illustrated the satisfactory performance of the designed control scheme.

scholarly journals Finite-time attitude stabilization of an output-constrained rigid spacecraft

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090741
Author(s):  
Jianjun Ma ◽  
Peng Li
Keyword(s):  
Finite Time ◽  
Mathematical Proof ◽  
Function Technique ◽  
Attitude Stabilization ◽  
Adding A Power Integrator ◽  
Stabilization Control ◽  
Modified Rodrigues Parameters ◽  
Output Constraints ◽  
Rigid Spacecraft ◽  
Power Integrator

This article concentrates on the study of finite-time attitude stabilization for a rigid spacecraft with output constraints. The dynamics of the spacecraft are expressed by modified Rodrigues parameters, so that the singularity of covariance matrix owing to quaternion’s redundancy is eliminated. Based on the backstepping technique in combination with adding a power integrator technique, the attitude stabilization control law is constructed. Rigorous mathematical proof shows that the closed-loop system is finite time stable and all the outputs remain bounded by using a barrier Lyapunov function technique. The effectiveness of the proposed finite-time stabilization scheme is verified by a simulation example.

scholarly journals Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

2020 ◽  
Vol 10 (18) ◽  
pp. 6447
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Time Path ◽  
Path Following Control ◽  
Control Scheme ◽  
Marine Surface ◽  
Surface Vessel

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.

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