scholarly journals Inverse Optimal Attitude Stabilization of Flexible Spacecraft with Actuator Saturation

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Chutiphon Pukdeboon
Keyword(s):  
Actuator Saturation ◽  
Sliding Mode ◽  
Estimation Error ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Optimal Control Strategy ◽  
External Disturbances ◽  
Control Lyapunov Function ◽  
Error Dynamics ◽  
The Stability

This paper presents a new robust inverse optimal control strategy for flexible spacecraft attitude maneuvers in the presence of external disturbances and actuator constraint. A new constrained attitude controller for flexible spacecraft is designed based on the Sontag-type formula and a control Lyapunov function. This control law optimizes a meaningful cost functional and the stability of the resulting closed-loop system is ensured by the Lyapunov framework. A sliding mode disturbance observer is used to compensate unknown bounded external disturbances. The ultimate boundedness of estimation error dynamics is guaranteed via a rigorous Lyapunov analysis. Simulation results are provided to demonstrate the performance of the proposed control law.

scholarly journals Discrete-time sliding mode observer for the state estimation of a manoeuvring target

2019 ◽  
Vol 233 (7) ◽  
pp. 847-854
Author(s):  
K Harikumar ◽  
Titas Bera ◽  
Rajarshi Bardhan ◽  
Suresh Sundaram
Keyword(s):  
Boundary Layer ◽  
Discrete Time ◽  
Sliding Mode ◽  
Estimation Error ◽  
Sliding Mode Observer ◽  
Unknown Parameters ◽  
First Order ◽  
Error Dynamics ◽  
And Performance ◽  
The Stability

This article addresses the problem of estimating the position, velocity, and acceleration of a manoeuvring target from noisy position measurements. A discrete-time sliding mode observer is designed to handle unmeasured disturbance input and measurement noise. A first-order linear dynamics is considered for target acceleration. The acceleration input command and the pole of the first-order acceleration dynamics are considered to be unknown parameters with known upper bounds. A finite non-zero boundary layer is employed to reduce the chattering phenomenon typically associated with sliding mode observers. Analysis of estimation error dynamics is presented for the case where the discrete-time sliding mode observer is operating outside the boundary layer and also within the boundary layer. An algorithm is developed for obtaining the observer gain vector that guarantees the stability of the error dynamics. Numerical simulations and experimental results are presented to validate the stability and performance of the proposed observer.

scholarly journals Robust Synchronisation of Uncertain Fractional-Order Chaotic Unified Systems

2017 ◽  
Vol 71 (1-2) ◽  
pp. 69-77
Author(s):  
Naeimadeen Noghredani ◽  
Saeed Balochian
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Sliding Mode ◽  
Financial Systems ◽  
External Disturbances ◽  
Sliding Mode Controllers ◽  
Error Dynamic ◽  
Error Dynamics ◽  
Integral Sliding Surface ◽  
The Stability

Abstract Fractional-order chaotic unified systems include a variety of fractional-order chaotic systems such as Chen, Lorenz, Lu, Liu, and financial systems. This paper describes a sliding mode controller for synchronisation of fractional-order chaotic unified systems in the presence of uncertainties and external disturbances, and affirms the stability of the controller (which is composed of error dynamics). Moreover, the synchronisation of two separate fractional-order chaotic systems is studied. For this aim, fractional integral sliding surface is defined. Then the sliding mode control rule for stability of error dynamic is presented based on the Lyapunov stability theorem. Simulation results, obtained by using MATLAB, show that the proposed sliding mode has employed an appropriate approach against uncertainties and to reduce the chattering phenomenon that often occurs with sliding mode controllers.

scholarly journals Robust adaptive global nonlinear sliding mode controller for a quadrotor under external disturbances and uncertainties

2020 ◽  
Vol 12 (11) ◽  
pp. 168781402097523
Author(s):  
Moussa Labbadi ◽  
Yassine El Houm ◽  
Ahmed Abbou ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode ◽  
Upper Bounds ◽  
Initial Time ◽  
Control Law ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Approach ◽  
Adaptive Laws ◽  
Robust Adaptive ◽  
The Stability

The present paper proposes an adaptive global nonlinear sliding mode controller (AGNSMC) for the tracking problem of a quadrotor subjected to external disturbances. In order to eliminate the reaching phase and to guarantee the sliding mode of the quadrotor states in the initial time, a novel control law is developed. The upper bounds of disturbances affected the quadrotor dynamics are rejected based on adaptive laws for the both attitude and position subsystem. The tracking performance is enhanced by using the suggested controller. The stability of quadrotor is guaranteed and the global sliding mode surfaces converge to origin values in a finite time. To show the robustness of the proposed control approach against the external disturbances, simulation results are presented and compared with the results of the super-twisting-integral sliding mode controller.

Observer-Based Fault Diagnosis of Satellite Systems Subject to Time-Varying Thruster Faults

2006 ◽  
Vol 129 (3) ◽  
pp. 352-356 ◽  
Author(s):  
Wen Chen ◽  
Mehrdad Saif
Keyword(s):  
Fault Diagnosis ◽  
Estimation Error ◽  
Fault Estimation ◽  
Time Varying ◽  
Satellite Systems ◽  
Adaptive Observers ◽  
Error Dynamics ◽  
The Stability ◽  
Estimation Of Time ◽  
Identification Strategy

This paper presents a novel fault diagnosis approach in satellite systems for identifying time-varying thruster faults. To overcome the difficulty in identifying time-varying thruster faults by adaptive observers, an iterative learning observer (ILO) is designed to achieve estimation of time-varying faults. The proposed ILO-based fault-identification strategy uses a learning mechanism to perform fault estimation instead of using integrators that are commonly used in classical adaptive observers. The stability of estimation-error dynamics is established and proved. An illustrative example clearly shows that time-varying thruster faults can be accurately identified.

Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control

1998 ◽  
Vol 123 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Mooncheol Won ◽  
J. K. Hedrick
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Sliding Surface ◽  
Sliding Control ◽  
Error Dynamics

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

Cooperative Tracking Control for Formation Keeping of Fractionated Spacecraft Based on Error Exchanging

2014 ◽  
Vol 1016 ◽  
pp. 649-654
Author(s):  
Ya Feng Niu ◽  
Yong Ming Gao
Keyword(s):  
Tracking Control ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Control Law ◽  
Velocity Information ◽  
The Stability ◽  
Cooperative Tracking ◽  
Fractionated Spacecraft ◽  
High Degree ◽  
Formation Keeping

This paper discusses the cooperative control for formation keeping of fractionated spacecraft, which is a new concept in recent years. For system of second-order differential equations of formation flying dynamics, knowledge of graph and consensus theory is introduced in study. By means of the idea of sliding mode control, we design a tracking control law for time-varying desired signal. Via exchanging error information among modules, the control law can make errors synchronized up to zero to achieve tracking. Relative velocity information between modules is not needed in this control law, which will efficiently reduce the requirements for relative navigation between modules. Then we prove the stability of the control system. Finally numerical simulation results show the effectiveness of the control law. By configuring the control parameters reasonably, we can achieve high degree of control accuracy.

Active Fault Tolerant Control Based on Fault Estimation

2014 ◽  
Vol 635-637 ◽  
pp. 1199-1202 ◽  
Author(s):  
Zheng Gao Hu ◽  
Guo Rong Zhao ◽  
Da Wang Zhou
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Control Law ◽  
Active Fault Tolerant Control ◽  
The Stability ◽  
Twisting Algorithm

For the chattering problem in the traditional sliding mode observer-based fault estimation, a second order sliding mode observer based on the Super-twisting algorithm was proposed. In order to avoid the cumbersome process of proving the stability of the Super-twisting algorithm, a Lyapunov function was adopted. An active fault tolerant control law was designed based on the fault estimation. Finally, simulation show the effectiveness of the proposed approach.

scholarly journals Adaptive output feedback integral sliding mode attitude tracking control of spacecraft without unwinding

2017 ◽  
Vol 9 (7) ◽  
pp. 168781401771040 ◽  
Author(s):  
Anuchit Jitpattanakul ◽  
Chutiphon Pukdeboon
Keyword(s):  
Output Feedback ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Technique ◽  
Control Law ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Integral Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control

This article studies an output feedback attitude tracking control problem for rigid spacecraft in the presence of parameter uncertainties and external disturbances. First, an anti-unwinding attitude control law is designed using the integral sliding mode control technique to achieve accurate tracking responses and robustness against inertia uncertainties and external disturbances. Next, the derived control law is combined with a suitable tuning law to relax the knowledge about the bounds of uncertainties and disturbances. The stability results are rigorously proved using the Lyapunov stability theory. In addition, a new finite-time sliding mode observer is developed to estimate the first time derivative of attitude. A new adaptive output feedback attitude controller is designed based on the estimated results, and angular velocity measurements are not required in the design process. A Lyapunov-based analysis is provided to demonstrate the uniformly ultimately bounded stability of the observer errors. Numerical simulations are given to illustrate the effectiveness of the proposed control method.

scholarly journals Adaptive Vibration Control of Piezoactuated Euler-Bernoulli Beams Using Infinite-Dimensional Lyapunov Method and High-Order Sliding-Mode Differentiation

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Teerawat Sangpet ◽  
Suwat Kuntanapreeda ◽  
Rüdiger Schmidt
Keyword(s):  
Adaptive Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
High Order ◽  
Control Law ◽  
Flexible Beams ◽  
Infinite Dimensional ◽  
Infinite Dimensional Systems ◽  
Sensor Configuration ◽  
The Stability

This paper presents an adaptive control scheme to suppress vibration of flexible beams using a collocated piezoelectric actuator-sensor configuration. A governing equation of the beams is modelled by a partial differential equation based on Euler-Bernoulli theory. Thus, the beams are infinite-dimensional systems. Whereas conventional control design techniques for infinite-dimensional systems make use of approximated finite-dimensional models, the present adaptive control law is derived based on the infinite-dimensional Lyapunov method, without using any approximated finite-dimension model. Thus, the stability of the control system is guaranteed for all vibration modes. The implementation of the control law requires a derivative of the sensor output for feedback. A high-order sliding mode differentiation technique is used to estimate the derivative. The technique features robust exact differentiation with finite-time convergence. Numerical simulation and experimental results illustrate the effectiveness of the controller.

Switch-Based Sliding Mode Control for Position-Based Visual Servoing of Robotic Riveting System

2016 ◽  
Vol 139 (4) ◽  
Author(s):  
Yi Min Zhao ◽  
Yu Lin ◽  
Fengfeng Xi ◽  
Shuai Guo ◽  
Puren Ouyang
Keyword(s):  
Visual Servoing ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Path Following ◽  
External Disturbances ◽  
Control Scheme ◽  
Riveting Process ◽  
The Stability ◽  
Time Required ◽  
Two Stages

The robotic riveting system requires a rivet robotic positioning process for rivet-in-hole insertions, which can be divided into two stages: rivet path-following and rivet spot-positioning. For the first stage, varying parameter-linear sliding surfaces are proposed to achieve robust rivet path-following against robot errors and external disturbances of the robotic riveting system. For the second stage, a second-order sliding surface is applied to attain accurate rivet spot-positioning within a finite time required by the riveting process. In order to improve the dynamic performance of the robot riveting system, the motion of robot end-effector between the two adjacent riveting spots has been properly designed. Overall, the proposed control scheme can guarantee not only the stability of the robot control system but also the robust rivet path-following and quick rivet spot-positioning in the presence of the robot errors and external disturbances of the robotic riveting system. The simulation and experimental results demonstrate the effectiveness of the proposed control scheme.

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