Nonlinear Predictive Attitude Control of Spacecraft under External Disturbances

2003 ◽  
Vol 40 (5) ◽  
Author(s):  
Hyun-Sam Myung ◽  
Hyochoong Bang
Keyword(s):  
Attitude Control ◽  
External Disturbances

Controlled inertia tensor of a transformable spacecraft

2021 ◽  
Author(s):  
R.P. Simonyants ◽  
N.A. Alekhin ◽  
V.A. Tarasov
Keyword(s):  
Attitude Control ◽  
Dynamic Properties ◽  
Operating Conditions ◽  
Inertia Tensor ◽  
Simplified Model ◽  
Diagonal Form ◽  
Transformation Mechanism ◽  
External Disturbances ◽  
Type Transformation ◽  
Gravitational Moment

A simplified model of a transformable spacecraft is considered, including a rod-type transformation mechanism with movable weights. The mechanism can be used to adapt the dynamic properties of the spacecraft to the environment or the operating conditions of on-board systems, for example, to counter the moments of external disturbances during attitude control and angular stabilization. By changing the position of the transformation mechanism, the spacecraft inertia tensor can be put in diagonal form, which makes it possible to exclude the force interconnections between the channels and to eliminate the constant component of the gravitational moment. For a simplified model of the transformation mechanism, we establish the analytical dependence of the components of the inertia tensor on the parameters determining the position of the transformation mechanism. It is shown that by adjusting the moving mass, which is 0.5% of the entire spacecraft mass, we obtain the spacecraft configuration that ensures the diagonality of the inertia tensor.

ROBUST HOVERING CONTROLLER FOR UNCERTAIN MULTIROTOR MICRO AERIAL VEHICLES (MAVS) IN GPS-DENIED ENVIRONMENTS: IMAGE-BASED

2016 ◽  
Vol 78 (6-13) ◽  
Author(s):  
Dafizal Derawi ◽  
Nurul Dayana Salim ◽  
Hairi Zamzuri ◽  
Mohd Azizi Abdul Rahman ◽  
Kenzo Nonami
Keyword(s):  
Flight Control ◽  
Attitude Control ◽  
Visual Servoing ◽  
Micro Aerial Vehicles ◽  
Fixed Target ◽  
External Disturbances ◽  
Control Loops ◽  
Aerial Vehicles ◽  
Multiple Uncertainties ◽  
Robust Flight Control

This paper proposes an image-based robust hovering controller for multirotor micro aerial vehicles (MAVs) in GPS-denied environments.  The proposed controller is robust against the effects of multiple uncertainties in angular dynamics of vehicle which contain external disturbances, nonlinear dynamics, coupling, and parametric uncertainties. Based on visual features extracted from the image, the proposed controller is capable of controlling the pose (position and orientation) of the multirotor relative to the fixed-target. The proposed controller scheme consists of two parts: a spherical image-based visual servoing (IBVS) and a robust flight controller for velocity and attitude control loops. A robust compensator based on a second order robust filter is utilized in the robust flight control design to improve the robustness of the multirotor when subject to multiple uncertainties. Compared to other methods, the proposed method is robust against multiple uncertainties and does not need to keep the features in the field of view. The simulation results prove the effectiveness and robustness of the proposed controller. 

Modelling and robust attitude trajectory tracking control of 3-DOF four rotor hover vehicle

2017 ◽  
Vol 89 (1) ◽  
pp. 87-98 ◽  
Author(s):  
Rooh ul Amin ◽  
Aijun Li
Keyword(s):  
Robust Stability ◽  
Trajectory Tracking ◽  
Attitude Control ◽  
Tracking Control ◽  
Robust Performance ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Content Type ◽  
Uncertainty Model ◽  
And Performance

Purpose The purpose of this paper is to present μ-synthesis-based robust attitude trajectory tracking control of three degree-of-freedom four rotor hover vehicle. Design/methodology/approach Comprehensive modelling of hover vehicle is presented, followed by development of uncertainty model. A μ-synthesis-based controller is designed using the DK iteration method that not only handles structured and unstructured uncertainties effectively but also guarantees robust performance. The performance of the proposed controller is evaluated through simulations, and the controller is also implemented on experimental platform. Simulation and experimental results validate that μ-synthesis-based robust controller is found effective in: solving robust attitude trajectory tracking problem of multirotor vehicle systems, handling parameter variations and dealing with external disturbances. Findings Performance analysis of the proposed controller guarantees robust stability and also ensures robust trajectory tracking performance for nominal system and for 15-20 per cent variations in the system parameters. In addition, the results also ensure robust handling of wind gusts disturbances. Originality/value This research addresses the robust performance of hover vehicle’s attitude control subjected to uncertainties and external disturbances using μ-synthesis-based controller. This is the only method so far that guarantees robust stability and performance simultaneously.

scholarly journals Chebyshev Neural Network-Based Adaptive Nonsingular Terminal Sliding Mode Control for Hypersonic Vehicles

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Ruimin Zhang ◽  
Qiaoyu Chen ◽  
Haigang Guo
Keyword(s):  
Sliding Mode Control ◽  
Attitude Control ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Adaptive Law ◽  
Nonsingular Terminal Sliding Mode

This paper presents an adaptive nonsingular terminal sliding mode control approach for the attitude control of a hypersonic vehicle with parameter uncertainties and external disturbances based on Chebyshev neural networks (CNNs). First, a new nonsingular terminal sliding surface is proposed for a general uncertain nonlinear system. Then, a nonsingular sliding mode control is designed to achieve finite-time tracking control. Furthermore, to relax the requirement for the upper bound of the lumped uncertainty including parameter uncertainties and external disturbances, a CNN is used to estimate the lumped uncertainty. The network weights are updated by the adaptive law derived from the Lyapunov theorem. Meanwhile, a low-pass filter-based modification is added into the adaptive law to achieve fast and low-frequency adaptation when using high-gain learning rates. Finally, the proposed approach is applied to the attitude control of the hypersonic vehicle and simulation results illustrate its effectiveness.

scholarly journals A Novel Dual-Loop Disturbance Observer-Based Attitude Control for a Space-Based Observation Microsatellite

2012 ◽  
Vol 2012 ◽  
pp. 1-18
Author(s):  
Jian Sun ◽  
Jian Yu ◽  
Haijun Rong
Keyword(s):  
Attitude Control ◽  
Nonlinear Dynamic ◽  
Control Method ◽  
Sliding Mode ◽  
Superior Performance ◽  
Dynamic Equations ◽  
Performance Indices ◽  
External Disturbances ◽  
Nonlinear Dynamic Equations ◽  
Static Performance

Aiming at strong coupling and nonlinear dynamic equations for a space-based observation satellite, a sliding mode controller with feed-forward compensation is proposed in this paper. The theorem of moment of momentum is applied to formulate the exact nonlinear dynamic equations of a multibody satellite. On this basis, sliding-mode control-based, dual-loop forward-feed compensation control is used to control the attitude of the space-based observation microsatellite. By comparing with the conventional control method, simulation results demonstrate that the proposed control method has superior performance in terms of suppression from external disturbances and vibration. Better dynamic and static performance indices than the conventional control method are achieved.

Extended harmonic disturbance observer-based attitude control for flexible spacecraft with control moment gyroscopes

2019 ◽  
Vol 233 (14) ◽  
pp. 5331-5346
Author(s):  
Liya Huang ◽  
Zhong Wu
Keyword(s):  
Attitude Control ◽  
Disturbance Observer ◽  
Wide Frequency Range ◽  
Flexible Spacecraft ◽  
Space Environment ◽  
Harmonic Model ◽  
External Disturbances ◽  
Control Moment ◽  
Control Moment Gyroscopes ◽  
Rotor Dynamic

In the flexible spacecraft with control moment gyroscopes, there are multiple disturbances including not only internal disturbances from actuators and flexible appendages, but also external disturbances from space environment. These disturbances are characterized by a wide frequency range and may degrade attitude control performance to a great extent. In this paper, the lumped disturbance is modeled as a harmonic plus a polynomial model, and an extended harmonic disturbance observer (EHDO) is proposed to estimate the total disturbance. Since the rotor dynamic imbalance disturbance from control moment gyroscopes is described by an internal harmonic model, the lumped disturbance can be estimated precisely via EHDO even with a lower bandwidth. Afterwards, a backstepping-based composite controller is designed to compensate the disturbances by combining the output of EHDO and realize high-precision attitude control for flexible spacecraft with control moment gyroscopes. Simulation results are presented to demonstrate the effectiveness of the proposed method.

Robust Adaptive Controller Design for a Quadrotor Helicopter

2013 ◽  
Vol 284-287 ◽  
pp. 2296-2300 ◽  
Author(s):  
Kuang Shine Yang ◽  
Chi Cheng Cheng
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Sliding Mode ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Unknown Parameters ◽  
External Disturbances ◽  
Quadrotor Helicopter ◽  
Robust Adaptive

The quadrotor helicopter is designed to easily move in particular environments because it can take off and land in limited space and easily hover at a fixed location. For this reason, a robust adaptive sliding mode controller is developed to control of a quadrotor helicopter in the presence of external disturbances and parameter uncertainties. The quadrotor helicopter system is a typical underactuated system, which has fewer independent control actuators than degrees of freedom to be controlled. The main contribution here is to afford simulation and verification for the quadrotor helicopter flight controller under the assumption of unknown parameters. By utilizing the Lyapunov stability theorem, we can achieve asymptotic tracking of desired reference commands for the quadrotor helicopter, which is subject to both external disturbances and parametric uncertainties. From the simulation results, the controller was sufficient to achieve position and attitude control of the quadrotor helicopter system, which permits possible real time applications in the near future.

scholarly journals Iterative Learning Sliding Mode Control for UAV Trajectory Tracking

Electronics ◽  
2021 ◽  
Vol 10 (20) ◽  
pp. 2474
Author(s):  
Lanh Van Nguyen ◽  
Manh Duong Phung ◽  
Quang Phuc Ha
Keyword(s):  
Trajectory Tracking ◽  
Attitude Control ◽  
Sliding Mode ◽  
A Priori ◽  
Iterative Learning ◽  
Time Data ◽  
External Disturbances ◽  
Control Scheme ◽  
Equivalent Control ◽  
Priori Information

This paper presents a novel iterative learning sliding mode controller (ILSMC) that can be applied to the trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) subject to model uncertainties and external disturbances. Here, the proposed ILSMC is integrated in the outer loop of a controlled system. The control development, conducted in the discrete-time domain, does not require a priori information of the disturbance bound as with conventional SMC techniques. It only involves an equivalent control term for the desired dynamics in the closed loop and an iterative learning term to drive the system state toward the sliding surface to maintain robust performance. By learning from previous iterations, the ILSMC can yield very accurate tracking performance when a sliding mode is induced without control chattering. The design is then applied to the attitude control of a 3DR Solo UAV with a built-in PID controller. The simulation results and experimental validation with real-time data demonstrate the advantages of the proposed control scheme over existing techniques.

Robust fault-tolerant attitude control of spacecraft using hybrid actuators

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yiqi Xu
Keyword(s):  
Attitude Control ◽  
Actuator Saturation ◽  
Fault Tolerant ◽  
Spacecraft Attitude Control ◽  
External Disturbances ◽  
Content Type ◽  
Virtual Control ◽  
Smooth Switching ◽  
High Level ◽  
Hybrid Actuator

Purpose This paper aims to address the spacecraft attitude control problem using hybrid actuators in the presence of actuator saturation, uncertainties and faults, inertia uncertainties and external disturbances. Design/methodology/approach A hybrid actuator configuration is used where thrusters are engaged for rapid attitude maneuvers, while reaction wheels (RWs) are used for fine pointing. Findings The key advantages are two-fold: a finite-time high-level controller is designed to produce the three-axis virtual control torques; an online robust control allocation (RobCA) scheme is proposed to redistribute virtual control signals to the actuators with taking into account the actuator saturation, uncertainties and faults; and the RobCA scheme allows a smooth switch between thrusters and RWs, which handles the inaccuracy problem of thrusters and saturation problem of RWs. Practical implications An online RobCA algorithm is designed that maps the total control demands onto individual actuator settings and allows a smooth switch between thrusters and RWs. Simulation results show the effectiveness of the proposed control strategy. Originality/value This work may be used on modern space missions, which impose higher requirements on smooth switching of spacecraft thrusters and RWs.

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