scholarly journals Super-Twisting Sliding Mode Control Law Design for Attitude Tracking Task of a Spacecraft via Reaction Wheels

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Yang-Rui Li ◽  
Chao-Chung Peng
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Real Space ◽  
Space Mission ◽  
Linear Matrix ◽  
Control Law ◽  
Finite Time Stability ◽  
External Perturbations ◽  
Attitude Tracking ◽  
Control Degree

The attitude control has been recognized as one of the most important research topics for spacecraft. If the desired attitude trajectory cannot be tracked precisely, it may cause mission failures. In the real space mission environment, the unknown external perturbations, for example, atmospheric drag and solar radiation, should be taken into consideration. Such external perturbations could deviate the precision of the spacecraft orientation and thereby lead to a mission failure. Therefore, in this paper, a quaternion-based super-twisting sliding mode robust control law for the spacecraft attitude tracking is developed. The finite time stability based on the formulation of the linear matrix inequality (LMI) is also provided. To avoid losing the control degree of freedom due to the certain actuator fault, a redundant reaction wheels configuration is adopted. The actuators distribution associated force distribution matrix (FDM) is analyzed in detail. Finally, the reference tangent-normal-binormal (TNB) command generation strategy is implemented for simulating the scenario of the space mission. Finally, the simulation results reveal that the spacecraft can achieve the desired attitude trajectory tracking demands in the presence of the time-varying external disturbances.

scholarly journals Nonsingular Integral Sliding Mode Attitude Control for Rigid-Flexible Coupled Spacecraft with High-Inertia Rotating Appendages

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Gaowang Zhang ◽  
Xueqin Chen ◽  
Ruichen Xi ◽  
Huayi Li
Keyword(s):  
Sliding Mode Control ◽  
Control Problem ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Law ◽  
Solar Panels ◽  
Integral Sliding Mode ◽  
Complex Control ◽  
Mode Control ◽  
Attitude Tracking

This study addresses the challenge of attitude tracking control for a rigid-flexible spacecraft with high-inertia rotating appendages. The Lagrange method was used to establish the kinematic and dynamic models of the spacecraft. The translation and rotation of the spacecraft, vibrations of solar panels, and imbalance caused by the rotating appendages, which cause a complex control problem, were considered. To address the complex control problem, a novel, fast nonsingular integral sliding mode control method is proposed to perform the attitude tracking function of spacecraft. A sliding mode control law was established for the high-inertia appendages to maintain an appropriate angular velocity during rotation. Finally, the effectiveness of the proposed attitude control law was verified by numerical simulations for a spacecraft with high-inertia rotating appendages and symmetrical flexible solar panels.

scholarly journals Finite-Time Attitude Stabilization Adaptive Control for Spacecraft with Actuator Dynamics

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5568
Author(s):  
Chunbao Wang ◽  
Dong Ye ◽  
Zhongcheng Mu ◽  
Zhaowei Sun ◽  
Shufan Wu
Keyword(s):  
Adaptive Control ◽  
Finite Time ◽  
Attitude Control ◽  
Sliding Mode ◽  
Control Law ◽  
Terminal Sliding Mode ◽  
Actuator Dynamics ◽  
Finite Time Stability ◽  
Attitude Stabilization ◽  
Time Control

For the attitude stabilization of spacecraft with actuator dynamics, this paper proposed a finite-time control law. Firstly, the dynamic property of the actuator is analyzed by an example. Then, a basic control law is derived to achieve the finite-time stability using the double fast terminal sliding mode manifold. When there is no prior knowledge of time matrix of the actuator, an adaptive law is proposed to estimate the unknown information. An adaptive control law is derived to guarantee the finite-time convergence of the attitude, and a Lyapunov-based analysis is provided. Finally, simulations are carried out to demonstrate the effectiveness of the proposed control law to the attitude stabilization with the actuator dynamics. The results show that the high-precision attitude control performance can be achieved by the proposed scheme.

scholarly journals Nonlinear Hybrid Controller for a Quadrotor Based on Sliding Mode and Backstepping

2015 ◽  
Vol 4 (3) ◽  
pp. 209
Author(s):  
Chuan Lian Zhang ◽  
Kil To Chong
Keyword(s):  
Attitude Control ◽  
Position Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Control Law ◽  
Dynamics Modeling ◽  
Hybrid Controller ◽  
Navigation Simulation ◽  
Waypoint Navigation ◽  
Nonlinear Hybrid

<span>In this paper, one nonlinear hybrid controller, based on backstepping and sliding mode, was developed and applied to a quadrotor for waypoint navigation application. After dynamics modeling, the whole quadrotor dynamics system could be divided into two subsystems: rotational system and translational system. Backstepping control law was derived for attitude control whereas sliding mode control law was developed for position control. By using Lyapunov theory and satisfying sliding stable rules, the convergence of system could be guaranteed. A nonlinear equation was proposed to solve the under-actuated problem. To validate the effectiveness of proposed nonlinear hybrid controller, waypoint navigation simulation was performed on the nonlinear hybrid controller. Results showed that the nonlinear hybrid controller finished waypoint navigation successfully.</span>

Robust chattering-free optimal sliding-mode control using recurrent neural networks: An H∞-based approach

2019 ◽  
Vol 41 (13) ◽  
pp. 3565-3580 ◽  
Author(s):  
Hamid Toshani ◽  
Mohammad Farrokhi
Keyword(s):  
Neural Networks ◽  
Sliding Mode Control ◽  
Recurrent Neural Networks ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Control Law ◽  
Tracking Accuracy ◽  
Mode Control ◽  
Chattering Free ◽  
Feedback Error

In this paper, a robust and chattering-free sliding-mode control strategy using recurrent neural networks (RNNs) and H∞ approach for a class of nonlinear systems with uncertainties is proposed. The dynamic and algebraic models of the RNN are extracted based on the nominal model of the system and formulation of a quadratic programming problem. For tuning the parameters of the sliding surface, the performance index and the switching coefficient, a robust approach based on the H∞ method is developed. To this end, the control law is divided into two parts: (1) the main term, which includes the feedback error and (2) other terms, which include the network states, the reference input and its derivatives and the effects of the uncertainties. The feedback error gain is tuned by solving a linear matrix inequality. The neural optimizer determines the sliding-mode control law without being directly affected by the uncertainties. By applying the proposed method to the continuous-stirred reactor tank and the inverted pendulum problems, the performance of the proposed controller has been evaluated in terms of the tracking accuracy, elimination of the chattering, robustness against the uncertainties and feasibility of the control signals. Moreover, the results are compared with the conventional and twisting sliding-mode control methods.

scholarly journals Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

Complexity ◽  
2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Yanchao Yin ◽  
Hongwei Niu ◽  
Xiaobao Liu
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Approximation Error ◽  
Model Parameters ◽  
Control Law ◽  
The Novel ◽  
Adaptive Neural Network ◽  
Mode Control ◽  
Attitude Tracking

A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS) is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA). Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF) neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

Launch vehicle ascent flight attitude control using direct adaptive generalized dynamic inversion

2018 ◽  
Vol 233 (11) ◽  
pp. 4141-4153 ◽  
Author(s):  
Uzair Ansari ◽  
Abdulrahman H Bajodah
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Launch Vehicle ◽  
Dynamic Scaling ◽  
Dynamic Inversion ◽  
Continuous Control ◽  
Attitude Tracking ◽  
Yaw Attitude ◽  
Satellite Launch Vehicle ◽  
Control Part

This paper presents the attitude control design of satellite launch vehicle based on the direct adaptive generalized dynamic inversion approach. The proposed adaptive generalized dynamic inversion approach encompasses the equivalent and the adaptive control elements. The equivalent (continuous) control part of adaptive generalized dynamic inversion is based on the conventional generalized dynamic inversion approach that comprises two noninterfering control actions, i.e. the particular part and the auxiliary part. In the particular part, dynamical constraint is prescribed in the form of time differential equation, which is evaluated along the vehicle attitude trajectories that encapsulates the control objectives and is inverted by utilizing Moore Penrose Generalized Inverse (MPGI). The singularity problem is solved by augmenting a dynamic scaling factor in the involved MPGI. In the auxiliary part, the null control vector is designed using the proportionality gain matrix, constructed by employing the Lyapunov function that guarantees global closed-loop asymptotic stability of the angular body rate dynamics. The adaptive (discontinuous) control part of adaptive generalized dynamic inversion is based on the sliding mode control with adaptive modulation gain, that provides robustness against tracking performance deterioration due to generalized scaling, system nonlinearities, and uncertainties, such that semi-global practically stable attitude tracking is guaranteed. External guidance loop based on the trajectory following method is designed, which reshapes the predefined pitch and yaw attitude profiles based on the respective normal and lateral positional errors, for acquiring the desired orbital parameters such as height, injection angle, orbital velocity, etc. To analyze the ascent flight trajectory, a detailed six-degrees-of-freedom simulator of a four-stage satellite launch vehicle is developed. The intensive numerical simulations are performed, which demonstrate the stability, robustness and the tracking capability of the proposed control and guidance methods in the presence of parametric uncertainties and external disturbances.

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.

Finite-time attitude tracking control of air bearing table for spacecraft rendezvous and docking

2016 ◽  
Vol 232 (1) ◽  
pp. 96-110 ◽  
Author(s):  
Cheng Huang ◽  
Yan Wang ◽  
Xing-lin Chen
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Finite Time Stability ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Attitude Tracking Control ◽  
Rendezvous And Docking

This paper studies the problem of attitude tracking control for spacecraft rendezvous and docking based on a physical ground simulation system. Two finite-time controllers based on quaternion are proposed by using a novel fast nonsingular terminal sliding mode surface associated with the adaptive control, the novel fast nonsingular terminal sliding mode surface not only contains the advantages of the fast nonsingular terminal sliding mode surface, but also can eliminate unwinding caused by the quaternion. The first controller, which is continuous and chattering-free, can compensate unknown constant external disturbances, while the second controller can both compensate parametric uncertainties and varying external disturbances with unknown bounds without chattering. Lyapunov theoretical analysis and simulation results show that the two controllers can make the closed-loop system errors converge to zero in finite time and guarantee the finite-time stability of the system.

Modified Sliding Mode Control for Mismatched Uncertain Systems with Unknown Disturbances

2016 ◽  
Vol 829 ◽  
pp. 123-127
Author(s):  
Van Van Huynh ◽  
Thao Phuong Thi Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Existence Condition ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Control Law ◽  
Sliding Surface ◽  
Mode Control ◽  
System States

In this paper, a new sliding mode control law is developed for a class of mismatched uncertain systems with more general exogenous disturbances. First, we derive a new existence condition of linear sliding surface in terms of strict linear matrix inequalities such that the reduce-order sliding mode dynamics is is asymptotically stable. Second, we propose an adaptive sliding mode control law such that the system states reach the sliding surface in finite time and stay on its thereafter. Final, a numerical example is used to demonstrate the efficacy of the proposed method.

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