scholarly journals Iterative Sliding Mode and Increment Feedback Attitude Control for On-Orbit Capturing Process of Spacecraft

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
ChunWu Yin ◽  
YouJun Ding ◽  
LiJun Song ◽  
ZhaoQiang Li ◽  
Xing He
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Control Process ◽  
Feedback Controller ◽  
Control Input ◽  
External Disturbances ◽  
Adaptive Sliding Mode Controller ◽  
Attitude Tracking ◽  
Input Torque

According to the characteristics of spacecraft capturing noncooperative targets in orbit, an increment feedback controller based on nonlinear iterative sliding mode is presented. Firstly, the attitude tracking error equation is established, and then, an increment feedback control law based on bounded iterative sliding modes is proposed, which does not need to estimate the uncertain moment of inertia and external disturbances. For comparing, an adaptive sliding mode controller has been designed in the paper. Some numerical simulations have been given in the presence of spacecraft on-orbit capturing noncooperative target, and the simulation results show that the increment feedback controller has strong robustness to the unknown parametric variations and external disturbances and has a smaller control input torque in control process.

Smooth second-order nonsingular terminal sliding mode control for reusable launch vehicles

2014 ◽  
Vol 7 (1) ◽  
pp. 95-110 ◽  
Author(s):  
Shaobo Ni ◽  
Jiayuan Shan
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Tracking Error ◽  
Second Order ◽  
Convergence Time ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Content Type ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking

Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is effective, leading to promising performance and robustness. Originality/value – By the proposed controller, the second-order sliding mode is established. The attitude tracking error converges to zero in a finite time. Meanwhile, the chattering is alleviated and a smooth control input is obtained.

scholarly journals Disturbance Rejection Attitude Control for a Quadrotor: Theory and Experiment

2021 ◽  
Vol 2021 ◽  
pp. 1-15
Author(s):  
Li Ding ◽  
Qing He ◽  
Chengjun Wang ◽  
Rongzhi Qi
Keyword(s):  
Attitude Control ◽  
Disturbance Rejection ◽  
Sliding Mode ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
Linear Extended State Observer ◽  
The Stability ◽  
Theory And Experiment

In this article, an attitude tracking controller is designed for a quadrotor unmanned aerial vehicle (UAV) subject to lumped disturbances. Firstly, the attitude dynamical model of the quadrotor under external disturbances is established. Subsequently, an improved sliding mode control (SMC) strategy is designed based on the linear extended state observer (LESO). In this control scheme, the SMC will guarantee the sliding surface is finite time reachable and the LESO will estimate and compensate for the lumped disturbances. Then, the robustness and asymptotic stability of the proposed controller are proved by the stability analyses. Finally, three numerical simulation cases and comparative flight experiments validate the effectiveness of the developed controller.

scholarly journals Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

2021 ◽  
Vol 9 (11) ◽  
pp. 1204
Author(s):  
Yunfei Xiao ◽  
Yuan Feng ◽  
Tao Liu ◽  
Xiuping Yu ◽  
Xianfeng Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
External Disturbances ◽  
Mode Control ◽  
Surface Vessels ◽  
Attitude Tracking ◽  
Underactuated Surface Vessels

This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.

Finite time attitude tracking control of an autonomous airship

2016 ◽  
Vol 40 (1) ◽  
pp. 155-162 ◽  
Author(s):  
Yueying Wang ◽  
Pingfang Zhou ◽  
Ji-An Chen ◽  
Dengping Duan
Keyword(s):  
Finite Time ◽  
Attitude Control ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Uncertain System ◽  
External Disturbances ◽  
Attitude Tracking ◽  
System Uncertainties ◽  
Attitude Tracking Control

The problem of station-keeping attitude tracking control for an autonomous airship with system uncertainties and external disturbances is investigated. Adaptive laws are applied to estimate the upper bounds of uncertainties and disturbances, and a nonlinear finite time control scheme is proposed by combing input/output feedback linearization with integral sliding mode technique. Different from the existing works on attitude control of airship, the developed controller can guarantee the yaw, pitch and roll angle trajectories track the desired attitude in finite time in spite of uncertain system uncertainties and external disturbances. Simulation results are provided to illustrate the attitude tracking performance.

scholarly journals Predictive Sliding Mode Control for Attitude Tracking of Hypersonic Vehicles Using Fuzzy Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
Xianlei Cheng ◽  
Guojian Tang ◽  
Peng Wang ◽  
Luhua Liu
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Attitude Control System ◽  
External Disturbances ◽  
Mode Control ◽  
Attitude Tracking ◽  
System Uncertainties ◽  
Fuzzy Disturbance Observer

We propose a predictive sliding mode control (PSMC) scheme for attitude control of hypersonic vehicle (HV) with system uncertainties and external disturbances based on an improved fuzzy disturbance observer (IFDO). First, for a class of uncertain affine nonlinear systems with system uncertainties and external disturbances, we propose a predictive sliding mode control based on fuzzy disturbance observer (FDO-PSMC), which is used to estimate the composite disturbances containing system uncertainties and external disturbances. Afterward, to enhance the composite disturbances rejection performance, an improved FDO-PSMC (IFDO-PSMC) is proposed by incorporating a hyperbolic tangent function with FDO to compensate for the approximate error of FDO. Finally, considering the actuator dynamics, the proposed IFDO-PSMC is applied to attitude control system design for HV to track the guidance commands with high precision and strong robustness. Simulation results demonstrate the effectiveness and robustness of the proposed attitude control scheme.

Modelling, design and experimental implementation of non-linear attitude tracking with disturbance compensation using adaptive-sliding control based on quaternion algebra

2017 ◽  
Vol 122 (1247) ◽  
pp. 148-171
Author(s):  
M. Reza Alipour ◽  
F. Fani Saberi ◽  
M. Kabganian
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Quaternion Algebra ◽  
Sliding Mode ◽  
Control Variable ◽  
Time Varying ◽  
External Disturbances ◽  
Mode Control ◽  
Attitude Tracking ◽  
Non Linear

ABSTRACTIn this paper, a non-linear tracking control algorithm is extended. The control objective of this research is to track a desired time-varying attitude of a satellite in the presence of inertia uncertainties and external disturbances, in order to be more suitable for implementation in a real-world application. In this investigation, the actuators are reaction wheels and the actuator dynamics are modelled in addition to the spacecraft dynamics. Thus, the control signal is DC motor voltage which is the most fundamental control variable and can be generated easily by a motor driver in practical cases. To achieve robust tracking of the desired time-varying attitude, a sliding mode controller is designed, and adaptive techniques are developed based on sliding mode control to overcome the inertia uncertainties and to estimate and compensate external disturbances. The kinematic equations of the satellite are expressed using quaternion parameters, and a novel control law will be derived by using a new facilitating approach in controller design, which is based on quaternion algebra, because of quaternion advantages, such as singularity rejection. Using this approach it will be more comfortable to deal with tedious mathematical operations, and on contrary with most of the previous studies, the terms corresponding to derivatives of the desired attitude are not neglected, and tracking capability is retained. The global stability of both methods (Sliding Mode Control (SMC) and adaptive sliding) is investigated using Lyapunov’s stability theorem. In order to validate the control methods, first, Simulink-ADAMS co-simulation of a 3-DOF attitude control is used to verify the algorithm performance and integrity, and finally, the control strategy is implemented on the Amirkabir University of Technology (AUT) 3-DOF attitude simulator for different types of non-linear attitudes. Both co-simulation and implementation results clearly illustrate the designed attitude control algorithm’s excellent performance in the various manoeuvres.

scholarly journals Control of an IPMC Soft Actuator Using Adaptive Full-Order Recursive Terminal Sliding Mode

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 33
Author(s):  
Romina Zarrabi Ekbatani ◽  
Ke Shao ◽  
Jasim Khawwaf ◽  
Hai Wang ◽  
Jinchuan Zheng ◽  
...  
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Working Environment ◽  
Parametric Uncertainties ◽  
Metal Composite ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Positioning Accuracy ◽  
Soft Actuator

The ionic polymer metal composite (IPMC) actuator is a kind of soft actuator that can work for underwater applications. However, IPMC actuator control suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, for underwater applications, they are highly exposed to parametric uncertainties and external disturbances due to the inherent characteristics and working environment. Those factors significantly affect the positioning accuracy and reliability of IPMC actuators. Hence, feedback control techniques are vital in the control of IPMC actuators for suppressing the system uncertainty and external disturbance. In this paper, for the first time an adaptive full-order recursive terminal sliding-mode (AFORTSM) controller is proposed for the IPMC actuator to enhance the positioning accuracy and robustness against parametric uncertainties and external disturbances. The proposed controller incorporates an adaptive algorithm with terminal sliding mode method to release the need for any prerequisite bound of the disturbance. In addition, stability analysis proves that it can guarantee the tracking error to converge to zero in finite time in the presence of uncertainty and disturbance. Experiments are carried out on the IPMC actuator to verify the practical effectiveness of the AFORTSM controller in comparison with a conventional nonsingular terminal sliding mode (NTSM) controller in terms of smaller tracking error and faster disturbance rejection.

scholarly journals Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System

2021 ◽  
Vol 39 (3A) ◽  
pp. 355-369
Author(s):  
Dina H. Tohma ◽  
Ahmed K. Hamoudi
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
Control Effort ◽  
Pendulum System ◽  
Adaptive Sliding Mode ◽  
Adaptive Sliding Mode Controller ◽  
Parameters Uncertainty ◽  
Better Than

This work aims to study and apply the adaptive sliding mode controller (ASMC) for the pendulum system with the existence of the parameters uncertainty, external disturbances, and coulomb friction. The adaptive sliding mode controller has several features over the conventional sliding mode control method. Firstly, the magnitude of the control signal is reduced to the minimally acceptable level defined by special conditions concerned with ASMC algorithm. Secondly, the upper bounds of uncertainties are not necessary to be defined before starting the work. For this reason, the ASMC can be used successfully to control the pendulum system with minimum control effort. These properties of the ASMC are confirming graphically by the simulation results using MATLAB 2019. The ASMC achieves an asymptotically stable system better than the Classical Sliding Mode Controller (CSMC). The unwanted phenomenon is called “chattering", which is appearing in the control action signal. These drawback properties are suppressed by employing a saturation function. Finally, the comparison between the results of the ASMC and CSMC showed that ASMC is the better one.

A fault-tolerant attitude tracking control of spacecraft using an anti-unwinding robust nonlinear disturbance observer

2019 ◽  
Vol 233 (16) ◽  
pp. 6005-6018 ◽  
Author(s):  
Syed Muhammad Amrr ◽  
M Nabi ◽  
Pyare Mohan Tiwari
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Simulation Analysis ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Actuator Faults ◽  
External Disturbances ◽  
Nonlinear Disturbance Observer ◽  
Attitude Tracking ◽  
Nonlinear Disturbance

This paper investigates the application of an integral sliding mode control with a robust nonlinear disturbance observer to obtain an anti-unwinding spacecraft attitude tracking response with robustness against external disturbances, inertia matrix uncertainties, and actuator faults. In the controller design, external disturbances, uncertainties, and actuator faults are lumped together and estimated by the robust nonlinear disturbance observer. The proposed robust nonlinear disturbance observer guarantees the convergence of estimated lumped disturbance error to origin in finite time. The estimated disturbance is then used in the controller as a feed-forward compensator. Further, an adaptive law is also incorporated in the proposed controller to ensure additional robustness. The stability of the overall system and anti-unwinding characteristic are proved using the Lyapunov stability theory. Finally, numerical simulation analysis is performed in the presence of all the sources of lumped disturbances. It is observed that the proposed control strategy is ensuring higher accuracy, good steady-state precision, and eliminates the unwinding phenomenon.

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