Adaptive attitude tracking control for rigid spacecraft with finite-time convergence
TL;DR: The proposed FNTSM control laws (FNTSMCLs) by employing FNTSMS associated with adaptation provide finite-time convergence, robustness, faster, higher control precision, and they are chattering-free.
About: This article is published in Automatica.The article was published on 2013-12-01. It has received 425 citations till now. The article focuses on the topics: Sliding mode control & Adaptive control.
Citations
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TL;DR: A novel finite-time command filtered backstepping approach is proposed by using the new virtual control signals and the modified error compensation signals, which not only has the advantages of the conventional command-filtered backstepped control, but also guarantees the finite- time convergent property.
472 citations
TL;DR: This brief investigates the finite-time control problem associated with attitude stabilization of a rigid spacecraft subject to external disturbance, actuator faults, and input saturation and develops a novel fixed-time sliding mode surface, and the settling time of the defined surface is shown to be independent of the initial conditions of the system.
Abstract: This brief investigates the finite-time control problem associated with attitude stabilization of a rigid spacecraft subject to external disturbance, actuator faults, and input saturation. More specifically, a novel fixed-time sliding mode surface is developed, and the settling time of the defined surface is shown to be independent of the initial conditions of the system. Then, a finite-time controller is derived to guarantee that the closed-loop system is stable in the sense of the fixed-time concept. The actuator-magnitude constraints are rigorously enforced and the attitude of the rigid spacecraft converges to the equilibrium in a finite time even in the presence of external disturbances and actuator faults. Numerical simulations illustrate the spacecraft performance obtained using the proposed controller.
361 citations
Cites methods from "Adaptive attitude tracking control ..."
...Remark 2: The switching method (5) is inspired by [19] and [20] to avoid the singularity....
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TL;DR: It is shown that under the proposed control method, despite the presence of actuator faults and system uncertainties, the formation tracking errors can converge into arbitrarily small neighborhoods around zero in finite time, while the constraint requirements on the LOS range and angle will not be violated.
344 citations
TL;DR: A continuous output feedback control scheme rendering the closed-loop double integrator system globally stable in finite-time is presented and the efficiency of the proposed algorithms is illustrated by numerical simulations.
264 citations
TL;DR: This paper aims to solve the model-free optimal tracking control problem of nonaffine nonlinear discrete-time systems with a critic-only Q-learning (CoQL) method, which avoids solving the tracking Hamilton-Jacobi-Bellman equation.
Abstract: Model-free control is an important and promising topic in control fields, which has attracted extensive attention in the past few years. In this paper, we aim to solve the model-free optimal tracking control problem of nonaffine nonlinear discrete-time systems. A critic-only Q-learning (CoQL) method is developed, which learns the optimal tracking control from real system data, and thus avoids solving the tracking Hamilton–Jacobi–Bellman equation. First, the Q-learning algorithm is proposed based on the augmented system, and its convergence is established. Using only one neural network for approximating the Q-function, the CoQL method is developed to implement the Q-learning algorithm. Furthermore, the convergence of the CoQL method is proved with the consideration of neural network approximation error. With the convergent Q-function obtained from the CoQL method, the adaptive optimal tracking control is designed based on the gradient descent scheme. Finally, the effectiveness of the developed CoQL method is demonstrated through simulation studies. The developed CoQL method learns with off-policy data and implements with a critic-only structure, thus it is easy to realize and overcome the inadequate exploration problem.
245 citations
References
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08 Jul 2003
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Abstract: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes. The robustness of the controller is established using the Lyapunov stability theory. Theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained compared with the conventional continuous sliding mode control method.
2,040 citations
"Adaptive attitude tracking control ..." refers methods in this paper
...…disturbances in Case A and case 3 of disturbances in Case B. Case A: To show the better control performance of CC including FNTSMCand adaptation, the proposedAFNTSMCL (28) is compared with robust FTSMCL (RFTSMCL) (16) (Yu et al., 2005) based on FNTSMS (6), i.e., RFTSMCL (16): u = −τS − σ sigγ (S)....
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TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.
1,826 citations
Additional excerpts
...…(TSM) s = ẋ+kx r1 r2 (k > 0, 0 < r1r2 < 1) (Venkataraman & Gulati, 1991), r1 > 0, r2 > 0 are odd integers, and NTSM s = x + k− r1 r2 ẋ r2 r1 (k > 0, 1 r2r1 2) in Feng, Yu, and Man (2002), have been developed widely that enables the system states to approach equilibrium in finite time....
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Book•
01 Jun 1998
TL;DR: Space Vehicle Dynamics and Control, Second Edition as discussed by the authors provides a solid foundation in dynamic modeling, analysis, and control of space vehicles featuring detailed sections covering the fundamentals of controlling orbital, attitude, and structural motions.
Abstract: "Space Vehicle Dynamics and Control, Second Edition" continues to provide a solid foundation in dynamic modeling, analysis, and control of space vehicles featuring detailed sections covering the fundamentals of controlling orbital, attitude, and structural motions of space vehicles. A new Part 5 is a collection of advanced spacecraft control problems and their practical solutions obtained by applying the fundamental principles and techniques emphasized throughout the book.The textbook highlights a range of orbital maneuvering and control problems: orbital transfer, rendezvous, and halo orbit determination and control. Rotational maneuvering and attitude control problems of space vehicles under the influence of reaction jet firings, internal energy dissipation, or momentum transfer via reaction wheels and control moment gyros are treated in detail. It also covers the analysis and design of attitude control systems in the presence of structural flexibility and/or propellant sloshing. New topics include control moment gyros for agile imaging satellites, solar sail dynamics and control, solar sail missions for asteroid deflection, and attitude and orbit control of a large geostationary solar power satellite.This text requires a thorough knowledge of vector and matrix algebra, calculus, ordinary differential equations, engineering mechanics, and linear system dynamics and control. The first two chapters provide a summary of such necessary background material. Since some problems may require the use of software for the analysis, control design, and numerical simulation, readers should have access to computational software (i.e., MATLAB[registered]) on a personal computer. MATLAB is a registered trademark of The MathWorks, Inc.
1,030 citations
"Adaptive attitude tracking control ..." refers methods in this paper
...Numerical values of rest-to-rest reorientation/slew maneuver mission In this subsection, simulation values for the large satellite HST (Thienel & Sanner, 2007; Wie, Liu, & Bauer, 1993), its mass is 13 000 kg, are considered to achieve rest-to-rest slew maneuver (Wie, 1998)....
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...In this subsection, simulation values for the large satellite HST (Thienel & Sanner, 2007; Wie, Liu, & Bauer, 1993), its mass is 13 000 kg, are considered to achieve rest-to-rest slew maneuver (Wie, 1998)....
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TL;DR: In this article, two sliding mode controllers are proposed to force the state variables of the closed-loop system to converge to the origin in finite time, and the second control design consists of the estimation of the uncertainty and disturbance by adaptive method and thus it achieves the decrease of undesired chattering effectively.
Abstract: The problem of attitude control for a spacecraft model which is nonlinear in dynamics with inertia uncertainty and external disturbance is investigated in this paper. Two sliding mode controllers are proposed to force the state variables of the closed-loop system to converge to the origin in finite time. Specially, the second control design consists of the estimation of the uncertainty and disturbance by adaptive method and thus it achieves the decrease of undesired chattering effectively. Also, simulation results are presented to illustrate the effectiveness of the control strategies. Copyright © 2010 John Wiley & Sons, Ltd.
696 citations
TL;DR: A fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems.
Abstract: A fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems. The inherent dynamic properties of the fast terminal sliding modes are explored and conditions to ensure its applicability for control designs are obtained.
677 citations
Additional excerpts
...The FTSM surface (FTSMS) s = ẋ + k1x + k2x r1 r2 (k1 > 0, k2 > 0) is proposed in Yu and Man (2002)....
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...…(TSM) s = ẋ+kx r1 r2 (k > 0, 0 < r1r2 < 1) (Venkataraman & Gulati, 1991), r1 > 0, r2 > 0 are odd integers, and NTSM s = x + k− r1 r2 ẋ r2 r1 (k > 0, 1 r2r1 2) in Feng, Yu, and Man (2002), have been developed widely that enables the system states to approach equilibrium in finite time....
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