To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of c...To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error （ISE） of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.展开更多
This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractiona...This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.展开更多
This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertaint...This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.展开更多
文摘To solve the problem of attitude tracking of a rigid spacecraft with an either known or measurable desired attitude trajectory, three types of time-varying sliding mode controls are introduced under consideration of control input constraints. The sliding surfaces of the three types initially pass arbitrary initial values of the system, and then shift or rotate to reach predetermined ones. This way, the system trajectories are always on the sliding surfaces, and the system work is guaranteed to have robustness against parameter uncertainty and external disturbances all the time. The controller parameters are optimized by means of genetic algorithm to minimize the index consisting of the weighted index of squared error （ISE） of the system and the weighted penalty term of violation of control input constraint. The stability is verified with Lyapunov method. Compared with the conventional sliding mode control, simulation results show the proposed algorithm having better robustness against inertia matrix uncertainty and external disturbance torques.
基金supported by the National Natural Science Foundation of China (61174037)the Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 61021002)the Natural Science Foundation of Heilongjiang Province (Grant No. F201307)
文摘This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.
文摘This paper investigates the finite-time attitude tracking problem for rigid spacecraft. Two backstepping finite-time slid- ing mode control laws are proposed to solve this problem in the presence of inertia uncertainties and external disturbances. The first control scheme is developed by combining sliding mode con- trol with a backstepping technique to achieve fast and accurate tracking responses. To obtain higher tracking precision and relax the requirement of the upper bounds on the uncertainties, a se- cond control law is also designed by combining the second or- der sliding mode control and an adaptive backstepping technique. This control law provides complete compensation of uncertainty and disturbances. Although it assumes that the uncertainty and disturbances are bounded, the proposed control law does not require information about the bounds on the uncertainties and disturbances. Finite-time convergence of attitude tracking errors and the stability of the closed-loop system are ensured by the Lya- punov approach. Numerical simulations on attitude tracking control of spacecraft are provided to demonstrate the performance of the proposed controllers.
