Journal ArticleDOI
Data-Driven Immersion and Invariance Adaptive Attitude Control for Rigid Bodies With Double-Level State Constraints
TLDR
This article investigates the attitude control problem of a rigid body subject to attitude and angular rate constraints (double-level state constraints), and inertia uncertainties, and proposes a data-driven immersion and invariance (I&I) adaptive control scheme to tackle this technically challenging problem.Abstract:
This article investigates the attitude control problem of a rigid body subject to attitude and angular rate constraints (double-level state constraints), and inertia uncertainties. A data-driven immersion and invariance (I&I) adaptive control scheme is proposed to tackle this technically challenging problem. As a stepping stone, a novel dynamically scaled I&I adaptive controller is designed to bypass the realizability condition that may not hold in the Lyapunov sense when considering angular rate constraints. Lyapunov stability analysis shows that this controller can enable the attitude errors and angular rates to converge asymptotically to zero for most initial conditions in the accessible space, while strictly obeying double-level state constraints with the help of two judiciously constructed potential functions. After that, to further relax the dependence of parameter convergence on the persistent excitation (PE) condition, the I&I adaptive law is extended to a data-driven counterpart through adding a learning term that is acquired by adopting the regressor filtering in conjunction with the dynamic regressor extension and mixing (DREM) procedure. The extended adaptive controller can not only preserve all the results obtained by the earlier proposed I&I adaptive controller, but also ensure asymptotic parameter convergence under a finite excitation condition much weaker than PE. In addition, benefiting from the DREM method and some special designs, the parameter convergence rates across all the parameter vector components can be flexibly tuned in an explicit way, and moreover, they are independent of the excitation level. Finally, simulation results are given to show the effectiveness of the proposed method.read more
Citations
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Journal ArticleDOI
Are nonfragile controllers always better than fragile controllers in attitude control performance of post-capture flexible spacecraft?
Chuang Liu,Xiaokui Yue,Ziyu Yang +2 more
TL;DR: The aim of this work is to design a hybrid non-fragile controller such that the closed-loop combined attitude system is stabilized, and to test whether nonfragiles controllers are always better than fragile controllers in attitude control performance of post-capture flexible spacecraft.
Journal ArticleDOI
Fault-Tolerant Reduced-Attitude Control for Spacecraft Constrained Boresight Reorientation
TL;DR: In this article , an adaptive fault-tolerant reduced-attitude control strategy for boresight reorientation of an uncertain spacecraft subject to pointing and angular velocity constraints is proposed.
Journal ArticleDOI
Adaptive fault-tolerant control for attitude reorientation under complex attitude constraints
TL;DR: In this paper , a potential function is developed based on the geometric properties of constrained zones, which can guide the rigid body to the desired orientation without causing unwinding, while ensuring the satisfaction of complex forbidden and mandatory attitude constraints.
Journal ArticleDOI
ADP-Based Spacecraft Attitude Control Under Actuator Misalignment and Pointing Constraints
TL;DR: In this article , a constrained optimal attitude control scheme is proposed for real-time optimal attitude reorientation control of rigid spacecraft control, where a special reward function is developed to characterize the environment feedback and deal with the pointing constraints.
Journal ArticleDOI
Prescribed performance trajectory tracking fault-tolerant control for dynamic positioning vessels under velocity constraints
TL;DR: In this paper , a trajectory tracking method with prescribed performance is proposed for dynamic positioning vessels by artfully constructing the intermediated error variable, and combining with appointed-time performance function, time-invariant and time-varying asymmetric barrier Lyapunov functions.
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