scholarly journals Finite-Time Controller for Flexible Satellite Attitude Fast and Large-Angle Maneuver

Symmetry ◽  
2021 ◽  
Vol 14 (1) ◽  
pp. 45
Author(s):  
You Li ◽  
Haizhao Liang ◽  
Lei Xing
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Large Angle ◽  
System Stability ◽  
Satellite Attitude ◽  
Attitude Maneuver ◽  
Mode Parameter ◽  
Mode Method ◽  
Dynamic Sliding Mode ◽  
Flexible Appendages

In order to deal with the fast, large-angle attitude maneuver with flexible appendages, a finite-time attitude controller is proposed in this paper. The finite-time sliding mode is constructed by implementing the dynamic sliding mode method; the sliding mode parameter is constructed to be time-varying; hence, the system could have a better convergence rate. The updated law of the sliding mode parameter is designed, and the performance of the standard sliding mode is largely improved; meanwhile, the inherent robustness could be maintained. In order to ensure the system’s state could converge along the proposed sliding mode, a finite-time controller is designed, and an auxiliary term is designed to deal with the torque caused by flexible vibration; hence, the vibration caused by flexible appendages could be suppressed. System stability is analyzed by the Lyapunov method, and the superiority of the proposed controller is demonstrated by numerical simulation.

scholarly journals Dynamic Sliding Mode Controller with Variable Structure for Fast Satellite Attitude Maneuver

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Gao Shan ◽  
Li You ◽  
Xue Huifeng ◽  
Yao ShuYue
Keyword(s):  
Convergence Rate ◽  
Attitude Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
System Stability ◽  
System State ◽  
Satellite Attitude ◽  
Satellite Attitude Control ◽  
Attitude Maneuver ◽  
Mode Parameter

In order to deal with the low convergence rate of the standard sliding mode in satellite attitude control, a novel variable structure sliding mode is constructed in this paper by designing the update law of the sliding mode parameter. By implementing this method, the advantage such as simple structure and strong robustness of the standard sliding mode are maintained and the system convergence rate is largely improved. The fixed sliding mode parameter is modified, and the update law is designed. When the system state is away from the sliding mode surface, the parameter is fixed, and when the system state approaches the sliding mode surface, the parameter begins to update. The constraint on control torque and angular velocity is taken into consideration, and the constraint on control parameters is given to ensure that the system state do not exceed its upper bound. System stability is proved by the Lyapunov stability theorem, and the superiority of the proposed controller is demonstrated by numerical simulation.

scholarly journals Robust Finite-Time Control Algorithm Based on Dynamic Sliding Mode for Satellite Attitude Maneuver

Mathematics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 111
Author(s):  
You Li ◽  
Haizhao Liang
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Time Stability ◽  
Finite Time Stability ◽  
Time Control ◽  
Satellite Attitude ◽  
Attitude Maneuver ◽  
Mode Parameter ◽  
Fixed Axis ◽  
System Robustness

Robust finite-time control algorithms for satellite attitude maneuvers are proposed in this paper. The standard sliding mode is modified, hence the inherent robustness could be maintained, and this fixed sliding mode is modified to dynamic, therefore the finite-time stability could be achieved. First, the finite -time sliding mode based on attitude quaternion is proposed and the loose finite-time stability is achieved by enlarging the sliding mode parameter. In order to get the strict finite-time stability, a sliding mode based on the Euler axis is then given. The fixed norm property of the Euler axis is used, and a sliding mode parameter without singularity issue is achieved. System performance near the equilibrium point is largely improved by the proposed sliding modes. The singularity issue of finite-time control is solved by the property of rotation around a fixed axis. System finite-time stability and robustness are analyzed by the Lyapunov method. The superiority of proposed controllers and system robustness to some typical perturbations such as disturbance torque, model uncertainty and actuator error are demonstrated by simulation results.

Finite time control strategy for satellite attitude maneuver based on hybrid actuator

2017 ◽  
Vol 40 (9) ◽  
pp. 2798-2806 ◽  
Author(s):  
Dong Ye ◽  
Xiao Zhang ◽  
Xucheng Wan ◽  
Zhaowei Sun
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
External Disturbance ◽  
Reference Trajectory ◽  
Terminal Sliding Mode ◽  
Time Control ◽  
Satellite Attitude ◽  
Attitude Maneuver ◽  
Attitude Tracking

In this paper, a Nonsingular Terminal Sliding Mode Control (NTSMC) strategy is investigated to address the finite-time attitude tracking problem of a rigid spacecraft. Hybrid thruster and flywheel actuator system is used for rapid reorientation under external disturbance. The reference torque is obtained from time-optimal attitude trajectory, and it is exerted on the satellite by thrusters in the form of feedforward compensation. Owing to thruster output torque deviation, initial measurement error and external disturbances, the practical trajectory of a satellite would deviate from reference trajectory. In order for the satellite to track the reference trajectory in finite time, the correction torque is deduced based on the error between reference trajectory and real-time measurements, and then applied through flywheels in the form of feedback compensation. The NTSMC method is used to solve nonsingular problem and to improve the control precision of the satellite attitude tracking issue. The numerical simulation results show that this control strategy is effective and it has great robustness.

scholarly journals A Finite-Time Disturbance Observer Based Full-Order Terminal Sliding-Mode Controller for Manned Submersible with Disturbances

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Xing Fang ◽  
Fei Liu
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
System Stability ◽  
Sliding Mode Controller ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Manned Submersible

A novel full-order terminal sliding-mode controller (FOTSMC) based on the finite-time disturbance observer (FTDO) is proposed for the “JIAOLONG” manned submersible with lumped disturbances. First, a finite-time disturbance observer (FTDO) is developed to estimate the lumped disturbances including the external disturbances and model uncertainties. Second, a full-order terminal sliding-mode surface is designed for the manned submersible, whose sliding-mode motion behaves as full-order dynamics rather than reduced-order dynamics in conventional sliding-mode control systems. Then, a continuous sliding-mode control law is developed to avoid chattering phenomenon, as well as to drive the system outputs to the desired reference trajectory in finite time. Furthermore, the closed-loop system stability analysis is given by Lyapunov theory. Finally, the simulation results demonstrate the satisfactory tracking performance and excellent disturbance rejection capability of the proposed finite-time disturbance observer based full-order terminal sliding-mode control (FTDO-FOTSMC) method.

scholarly journals Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zijun Gao ◽  
Jin Wang ◽  
Yaping Tian
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Attitude Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Auxiliary Variable ◽  
System Stability ◽  
Terminal Sliding Mode ◽  
Command Signals ◽  
Adverse Influence

This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.

scholarly journals Dynamic Control of Mobile Robot Using RBF Global Fast Sliding mode

2018 ◽  
Vol 7 (3) ◽  
pp. 159
Author(s):  
Ali Mallem ◽  
Noureddine Slimane ◽  
Walid Benaziza
Keyword(s):  
Mobile Robot ◽  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Dynamic Control ◽  
Nonlinear Function ◽  
Lyapunov Theory ◽  
System Stability ◽  
Matlab Simulink ◽  
Angular Velocities

<p class="Abstract">This paper mainly In this paper a dynamic control of mobile robot using RBF global fast sliding mode (RBF-GFSM) strategy is presented. Firstly a GFSM controller is used in order to make the linear and angular velocities converge to references ones in finite time. However a problem of instability of velocities is appeared by introducing disturbances in the system. Secondly, a combined controller using RBF-GFSM approach is applied in aim to stabilize the velocities errors and estimates the nonlinear function of the robot model. The system stability is done using the lyapunov theory. The proposed controllers are dynamically simulated using Matlab/Simulink and the simulations results show the efficiency and robustness of the proposed control strategy.</p>

A novel framework to finite-time tracking of nonlinear MIMO systems based on fast terminal sliding-mode method

2021 ◽  
pp. 014233122110533
Author(s):  
Mohammad Hossein Shafiei ◽  
Masoud Keshavarz
Keyword(s):  
Finite Time ◽  
Mimo Systems ◽  
Sliding Mode ◽  
State Variables ◽  
Internal Dynamics ◽  
Terminal Sliding Mode ◽  
Recursive Procedure ◽  
Novel Approach ◽  
Fast Terminal Sliding Mode ◽  
Mode Method

In this paper, a novel approach is proposed to design a robust finite-time tracking controller for uncertain affine multi-input multi-output (MIMO) systems. In the proposed approach, a fast terminal sliding mode (FTSM) controller is designed, based on the input–output relation of the MIMO nonlinear systems. The main advantage of the proposed method is its capability to handle the internal dynamics of the system. Moreover, in the proposed controller, the state variables of the internal dynamics of the system are not necessary to be measured. To realize the finite-time convergence of the output variables, a set of switching manifolds with a recursive procedure is utilized. Finally, the robust stability and tracking efficiency of the proposed control law are shown through computer simulations.

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