Adaptive tracking and command shaped vibration control of flexible spacecraft

Zhu, Wanwan; Zong, Qun; Tian, Bangsen

doi:10.1049/iet-cta.2018.5051

Cited by 11 publications

(5 citation statements)

References 37 publications

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“…Input shaping is a simple yet effective technique to reduce residual vibration in point-to-point movement of flexible systems. Its applications are expanding from crane [15,19,22,24,40], hard disk drive [28], industrial robot manipulator [20,21,35], liquid sloshing [1], flexible spacecraft [27,42], X-Y platform [33,39,41], elevator [14], quadrotor and drone [5,12,18], DC motor, car wiper [28], offshore structure [36], to micro and nano systems like nano positioner and MEMS actuator [2].…”

Section: Introductionmentioning

confidence: 99%

Input Shaping for Flexible Systems with Non-Zero Initial Conditions

Moonmangmee,

Juyploy,

Chatlatanagulchai

2023

Trends Sci

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Input shaping is a finite-impulse response (FIR) filter whose coefficients are designed to produce a shaped input that avoids exciting lightly-damped modes. As a result, flexible systems can be commanded to move quickly from point to point with minimum residual vibration. However, traditional input shaping techniques assume zero initial conditions, limiting their usability for systems with non-zero initial conditions, such as, emergency stops of cranes. Besides, in practice, movement of flexible systems is often initiated when the systems are not completely stationary. In these situations, the performance of the input shaping technique deteriorates. In this paper, a modification of shaper’s impulse sequence at the beginning of the move is proposed to bring the moving flexible system to a stop before commencing movement. The modification utilizes the work and energy method to determine the distance and time as functions of the initial states for base excitation of flexible systems, rendering its application to nonlinear systems. By concatenating this modification with the existing input shapers, a novel shaper called the non-zero initial conditions zero-vibration-derivative (NI-ZVDk) input shaper is introduced. The NI-ZVDk input shaper effectively prevents the movement of flexible systems from their initial states. To demonstrate the effectiveness of the approach, a 2-mass system is utilized as a benchmark for general flexible systems with 2 degrees of freedom. Various types of motion, including pure translation, pure rotation, and combined translation-rotation, are considered. Extensive simulation results showed that, using the proposed NI-ZVDk input shaper, the flexible systems can move from non-zero initial conditions to their desired destinations with less time and less residual vibration. HIGHLIGHTS The Input Shaping (IS) technique is used to suppress residual vibrations by creating destructive interference in impulse responses This method presents a novel design modification for IS when initial conditions are non-zero This technique can be extended for use in various nonlinear vibratory systems For example, it can be used when a crane needs to stop abruptly from non-zero initial conditions without residual vibrations GRAPHICAL ABSTRACT

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Section: Introductionmentioning

confidence: 99%

Input Shaping for Flexible Systems with Non-Zero Initial Conditions

Moonmangmee,

Juyploy,

Chatlatanagulchai

2023

Trends Sci

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“…Especially in reference [10], the basic theory of attitude dynamic modeling for three-axis stabilized spacecraft with flexible appendages is systematically expounded. Moreover, a large number of modern control methods such as H ∞ , sliding mode, adaptive, fuzzy and combined control have been utilized in the design of flexible spacecraft attitude controllers to improve system performance [13][14][15][16][17][18][19]. Sliding mode control, a class of nonlinear control methods with strong robustness, has shown the superiority in the control of flexible spacecraft [20][21][22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Finite‐time attitude‐orbit integrated tracking control of flexible spacecraft under input saturation

Fan

Liu

et al. 2022

IET Control Theory & Appl

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This paper investigates the attitude-orbit integrated modeling and robust control of flexible spacecraft with input saturation. First, the dual-number method is employed to describe the dynamic model of the spacecraft with the flexible appendage. Then, a fast terminal sliding mode control law is designed to stabilize the attitude-orbit control system of the spacecraft. In addition, considering the input saturation, a time-varying siding surface based terminal sliding mode control law is further proposed to solve the design problem. Under the designed control laws, the state trajectories of the attitude-orbit coupled control systems can achieve to be finite-time stable, and the reachability of the proposed sliding surface can be ensured at the same time. Finally, through numerical simulations and comparison with the conventional methods, the superiority of the proposed control strategies in convergence speed and convergence accuracy is verified, and the feasibility of engineering application is verified.

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“…[6][7][8] Many methods have been proposed to deal with the problem of flexible vibration for flexible spacecraft. [9][10][11] There are two main types of approaches to eliminate the flexible vibration, namely, passive vibration suppression and active vibration suppression. For the former, the flexible vibration is treated as a disturbance and the robust controller is designed against the vibration.…”

Section: Introductionmentioning

confidence: 99%

“…Many methods have been proposed to deal with the problem of flexible vibration for flexible spacecraft 9‐11 . There are two main types of approaches to eliminate the flexible vibration, namely, passive vibration suppression and active vibration suppression.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time attitude tracking control and vibration suppression for flexible spacecraft

Zhu

Zong

Dou

et al. 2021

Intl J Robust & Nonlinear

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In this paper, an adaptive multivariable continuous terminal sliding mode (CTSM) controller with robust input shaper (RIS) is proposed for flexible spacecraft under model uncertainty and external disturbance. Firstly, for the problem of flexible vibration introduced by flexible appendage, the RIS based on disturbance observer is designed. The proposed input shaper can eliminate the flexible vibration effectively even if there are some disturbances in flight. Then, an adaptive multivariable CTSM controller is proposed for attitude tracking of flexible spacecraft, using only information about the output and its first derivative. The features of the developed methods are that it is continuous multivariable controller which attenuates the chattering effectively and the attitude tracking can be achieved in finite time. The stability and robustness properties of the system are proven using Lyapunov function. Finally, some numerical simulations are performed to validate the efficiency of the developed algorithm.

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Adaptive tracking and command shaped vibration control of flexible spacecraft

Cited by 11 publications

References 37 publications

Input Shaping for Flexible Systems with Non-Zero Initial Conditions

Input Shaping for Flexible Systems with Non-Zero Initial Conditions

Finite‐time attitude‐orbit integrated tracking control of flexible spacecraft under input saturation

Finite‐time attitude tracking control and vibration suppression for flexible spacecraft

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