Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation

doi:10.1007/s12204-018-1994-x

Journal of Shanghai Jiao Tong University (Science) ›› 2018, Vol. 23 ›› Issue (5): 650-656.doi: 10.1007/s12204-018-1994-x

Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation

LIU Yueyang (刘岳洋), HU Qinglei (胡庆雷), GUO Lei (郭雷)

(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

出版日期:2018-10-01 发布日期:2018-10-07
通讯作者: HU Qinglei (胡庆雷) E-mail:huql buaa@buaa.edu.cn

Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation

LIU Yueyang (刘岳洋), HU Qinglei (胡庆雷), GUO Lei (郭雷)

(School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China)

Online:2018-10-01 Published:2018-10-07
Contact: HU Qinglei (胡庆雷) E-mail:huql buaa@buaa.edu.cn

摘要/Abstract

摘要： The attitude tracking control problem of a rigid spacecraft with actuator saturation is investigated in this paper. A finite-time attitude tracking control scheme is presented by incorporating sliding mode control (SMC) and adaptive technique. Specifically, a novel time-varying sliding mode manifold is first developed that aims at regulating the attitude tracking error to equilibrium point within a certain finite time. Moreover, it can be specified a priori by the designer according to the mission requirement. Subsequently, an adaptive controller is derived by using the SMC in conjunction with adaptive technique. The designed controller is capable of ensuring that the state trajectories reach to sliding regime within a finite time, and hence that attitude tracking error can converge to zero in a finite time with the aid of the developed sliding dynamics, despite the presence of exogenous disturbances, unknown inertia properties and saturation nonlinearities. Finally, the simulation experiments are carried out to demonstrate the effectiveness of the proposed control scheme.

关键词: time-varying sliding mode, finite-time convergence, input saturation, attitude tracking, spacecraft

Abstract: The attitude tracking control problem of a rigid spacecraft with actuator saturation is investigated in this paper. A finite-time attitude tracking control scheme is presented by incorporating sliding mode control (SMC) and adaptive technique. Specifically, a novel time-varying sliding mode manifold is first developed that aims at regulating the attitude tracking error to equilibrium point within a certain finite time. Moreover, it can be specified a priori by the designer according to the mission requirement. Subsequently, an adaptive controller is derived by using the SMC in conjunction with adaptive technique. The designed controller is capable of ensuring that the state trajectories reach to sliding regime within a finite time, and hence that attitude tracking error can converge to zero in a finite time with the aid of the developed sliding dynamics, despite the presence of exogenous disturbances, unknown inertia properties and saturation nonlinearities. Finally, the simulation experiments are carried out to demonstrate the effectiveness of the proposed control scheme.

Key words: time-varying sliding mode, finite-time convergence, input saturation, attitude tracking, spacecraft

中图分类号:

V 448.2

LIU Yueyang (刘岳洋), HU Qinglei (胡庆雷), GUO Lei (郭雷). Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation[J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(5): 650-656.

参考文献 16

[1]	YOON H, AGRAWAL B N. Adaptive control of uncertainhamiltonian multi-input multi-output systems:With application to spacecraft control [J]. IEEETransactions on Control Systems Technology, 2009,17(4): 900-906.
[2]	LU K F, XIA Y Q, ZHU Z, et al. Sliding mode attitudetracking of rigid spacecraft with disturbances [J].Journal of the Franklin Institute, 2012, 349(2): 413-440.
[3]	ZHANG J H, XIA Y Q. Design of static output feedbacksliding mode control for uncertain linear systems[J]. IEEE Transactions on Industrial Electronics, 2010,57(6): 2161-2170.
[4]	LUO W C, CHU Y C, LING K V. H∞ inverse optimalattitude-tracking control of rigid spacecraft [J]. Journalof Guidance, Control, and Dynamics, 2012, 28(3):481-494.
[5]	JIN E D, SUN Z W. Robust controllers design withfinite time convergence for rigid spacecraft attitudetracking control [J]. Aerospace Science and Technology,2008, 12(4): 324-330.
[6]	ZOU A M, KUMAR K D, HOU Z G, et al. Finite-timeattitude tracking control for spacecraft using terminalsliding mode and Chebyshev neural network [J]. IEEETransactions on Systems, Man, and Cybernetics, PartB: Cybernetics, 2011, 41(4): 950-963.
[7]	FORBES J R. Attitude control with active actuatorsaturation prevention [J]. Acta Astronautica, 2015,107: 187-195.
[8]	WIE B, LU J B. Feedback control logic for spacecrafteigenaxis rotations under slew rate and control constraints[J]. Journal of Guidance, Control, and Dynamics,1995, 18(6): 1372-1379.
[9]	BOˇSKOVI′ CJ D, LI SM, MEHRA R K. Robust trackingcontrol design for spacecraft under control inputsaturation [J]. Journal of Guidance, Control, and Dynamics,2004, 27(4): 627-633.
[10]	TSIOTRAS P, LUO J H. Control of underactuatedspacecraft with bounded inputs [J]. Automatica, 2000,36(8): 1153-1169.
[11]	HU Q L. Variable structure maneuvering controlwith time-varying sliding surface and active vibrationdamping of flexible spacecraft with input saturation[J]. Acta Astronautica, 2009, 64(11): 1085-1108.
[12]	CAI W C, LIAO X H, SONG Y D. Indirect robustadaptive fault-tolerant control for attitude tracking ofspacecraft [J]. Journal of Guidance, Control, and Dynamics,2008, 31(5): 1456-1463.
[13]	XIAO B, HU Q L, ZHANG Y M, et al. Fault-toleranttracking control of spacecraft with attitude-only measurementunder actuator failures [J]. Journal of Guidance,Control, and Dynamics, 2014, 37(3): 838-849.
[14]	ZHU Z, XIA Y Q, FU M Y. Attitude stabilization ofrigid spacecraft with finite-time convergence [J]. InternationalJournal of Robust and Nonlinear Control,2011, 21(6): 686-702.
[15]	LU K F, XIA Y Q. Adaptive attitude tracking controlfor rigid spacecraft with finite-time convergence[J]. Automatica, 2013, 49(12): 3591-3599.
[16]	XIAO B, HU Q L, ZHANG Y M. Finite-time attitudetracking of spacecraft with fault-tolerant capability[J]. IEEE Transactions on Control System Technology,2015, 23(4): 1138-1150.

Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation

Finite-Time Attitude Tracking Control of Spacecraft with Actuator Saturation

可视化

摘要/Abstract

引用本文

使用本文

参考文献 16

相关文章 5

编辑推荐

Metrics

本文评价

[1]	HUANG Hantao, ZHOU Jingye, DI Qing, ZHOU Jiawei, LI Jiawang . Three-Dimensional Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicles with Input Saturation[J]. Journal of Shanghai Jiao Tong University(Science), 2020, 25(4): 470-477.
[2]	WANG Jian, SHI Liangren. Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints[J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(3): 288-298.
[3]	YU Zhangwei (余章卫), CAI Guoping (蔡国平) . Relative Attitude Dynamics and Control of Spacecraft Formation Flying Considering Flexible Panels[J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(6): 721-729.
[4]	YUE Caichenga (岳才成), CHEN Hongbina (陈红彬), QIAN Linfanga (钱林方), KONG Jianshoub (孔. Adaptive Sliding-Mode Tracking Control for an Uncertain Nonlinear SISO Servo System with a Disturbance Observer[J]. sa, 2018, 23(3): 376-.
[5]	LONG Hai-hui (龙海辉), ZHAO Jian-kang*(赵健康), LAI Jian-qing (赖剑清). H∞ Inverse Optimal Adaptive Fault-Tolerant Attitude Control for Flexible Spacecraft with Input Saturation[J]. 上海交通大学学报（英文版）, 2015, 20(5): 513-527.