Finite-time extended state observer based nonsingular fast terminal sliding mode control of autonomous underwater vehicles

This work addresses the challenging problem of finite-time fault tolerant attitude stabilization control for the rigid spacecraft attitude control system without the angular velocity measurements, in the presence of external disturbances and actuator failures. Consider the severe circumstances with above failures and uncertainties, a novel continuous finite-time Extended State Observer is first established to observe the attitude angular velocity and the synthetic failure simultaneously. Unlike the existing observers, the finite-time methodology and Extended State Observer are utilized, to achieve the finite-time uniformly ultimately bounded stability of the attitude angular velocity and extended state observation errors. Furthermore, a novel continuous finite-time attitude controller is developed by using the nonsingular terminal sliding mode control and super-twisting method. The main feature of this work stems from our use of multiply advanced techniques or methodologies that enables the finite-time stability of the closed-loop attitude control system and the designed control scheme is continuous with the property of chattering restraining. Finally, numerical simulation results are presented to illustrate the effectiveness and fine performances of the finite-time observer and controller for the attitude control system.

Finite-time Extended State Observer based fault tolerant output feedback control for attitude stabilization.

Appointed-time prescribed performance attitude tracking control via double performance functions

In this paper, the distributed finite-time formation tracking control problem with collision avoidance is investigated for multiple quadrotor Unmanned Aerial Vehicles (UAV) subject to external disturbances. Firstly, two finite-time observers are designed to estimate the external disturbance force and torque without upper bound, respectively. Then, utilizing the precisely observed information deriving from the observers, a novel sliding mode surface-like variable based distributed position formation tracking control strategy and a fast terminal sliding mode based attitude tracking control strategy are proposed, respectively. It achieves that the multiple quadrotor UAVs can track the desired trajectory in a specific formation configuration within the safe distance and avoid dynamic obstacles. Meanwhile, the rapid attitude synchronization and tracking is also achieved. The entire multiple UAVs distributed formation tracking closed-loop control system are proved to be globally fast finite-time stable by using Lyapunov-like analysis. Finally, the effective and fine performance of the proposed schemes are demonstrated by a numerical simulation example with a group of quadrotor UAVs.

Finite-time formation tracking control with collision avoidance for quadrotor UAVs

This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.

Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

Continuous finite-time extended state observer based fault tolerant control for attitude stabilization

Neural-networks and event-based fault-tolerant control for spacecraft attitude stabilization

The purpose of this paper is to investigate the attitude cooperation control of multi-spacecraft with in-continuous communication.,A decentralized state-irrelevant event-triggered control policy is proposed to reduce control updating frequency and further achieve in-continuous communication by introducing a self-triggered mechanism.,Each spacecraft transmits data independently, without the requirement for the whole system to communicate simultaneously. The local predictions and self-triggered mechanism avoid continuous monitoring of the triggering condition.,This investigation is suitable for small Euler angle conditions.,The control policy based on event-triggered communication can provide potential solutions for saving communication resources.,This investigation uses event- and self-triggered policy to achieve in-communication for the multi-spacecraft system.

Event- and self-triggered control of attitude coordination to multi-spacecraft system

On low-complexity control design to spacecraft attitude stabilization: An online-learning approach

Attitude control of a rigid spacecraft has attracted tremendous attention for the capability of achieving operational services, such as remote sensing, communication and variety of space-related research.

Bo Li

Papers

Continuous finite-time extended state observer based fault tolerant control for attitude stabilization

Neural-networks and event-based fault-tolerant control for spacecraft attitude stabilization

Event- and self-triggered control of attitude coordination to multi-spacecraft system

On low-complexity control design to spacecraft attitude stabilization: An online-learning approach

Robust Finite-Time Control Allocation for Attitude Stabilization Under Actuator Misalignment