Abstract
This paper investigates the robust finite-time attitude tracking control problem for rigid spacecraft considering the modeling uncertainty, external disturbance and actuator saturation. An auxiliary system is proposed to directly compensate for the saturated control input. First, the basic controller is formulated based on the fast nonsingular terminal sliding mode surface (FNTSMS), the fast-TSM-type reaching law and the auxiliary system in the presence of upper bounded external disturbance. Then, when facing system uncertainty which consists of both modeling uncertainty and external disturbance and has upper bounded first derivative, the extended state observer (ESO) is associated with the first controller to improve the robustness of control system. Furthermore, to handle more general system uncertainty which is upper bounded by a polynomial function of the closed-loop system states, a continuous adaptive controller is designed to compensate for the total system uncertainty on line. The proposed controllers are able to deal with system uncertainty, input singularity and actuator saturation, while simultaneously providing fast finite-time convergence speed for the control system. And the problems of complex parameters selection process and repeated differentiations of nonlinear functions can be avoided. Rigorous stability analyses are given via the Lyapunov stability theory and digital simulations are conducted to illustrate the effectiveness of the proposed controllers.
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Recommended by Associate Editor Ohmin Kwon under the direction of Editor Jessie (Ju H.) Park. This paper was supported by the National Natural Science Foundation of China (61174037) and the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (61021002).
Hai-Tao Chen received his B.S. and M.S. degrees in School of Automation from USTB. Currently, he is a Ph.D. student in the School of Astronautics at Harbin Institute of Technology. His main research interests include spacecraft attitude control, sliding mode control and adaptive control.
Shen-Min Song received his Ph.D. degree in Control Theory and Application from Harbin Institute of Technology in 1996. He carried out postdoctoral research at Tokyo University from 2000 to 2002. He is currently a professor in the School of Astronautics at Harbin Institute of Technology. His main research interests include spacecraft guidance and control, intelligent control, and nonlinear theory and application.
Zhi-Bin Zhu received his Ph.D. degree in Control Science and Engineering from Harbin Institute of Technology in 2009. He is currently a senior engineer at Beijing Institute of Control Engineering. His main research interests include nonlinear control, spacecraft guidance and control, space robot on-orbit control.
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Chen, HT., Song, SM. & Zhu, ZB. Robust Finite-time Attitude Tracking Control of Rigid Spacecraft Under Actuator Saturation. Int. J. Control Autom. Syst. 16, 1–15 (2018). https://doi.org/10.1007/s12555-016-0768-1
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DOI: https://doi.org/10.1007/s12555-016-0768-1