Extended state observer-based attitude fault-tolerant control of rigid spacecraft

Yin, Lijian; Xia, Yuanqing; Huo, Bo

doi:10.1080/00207721.2018.1498556

Cited by 12 publications

(6 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…where j ¼ 1; 2, /, 6, and then the observer errors in (28) can converge in finite time to the region…”

Section: Proof Of Stabilitymentioning

confidence: 99%

“…24,25 Up to now, ESO has been developed from the initial linear form to various types of nonlinear forms to achieve higher estimation accuracy and convergence rate. [26][27][28][29][30] Meanwhile, although nonlinear ESOs have better performance than linear ESOs, their parameter tuning is also more complex, so there is a trade-off between the performance and implementation complexity.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A 6-DOF extended state observer–based adaptive generalized super twisting algorithm of fault-tolerant control for coupled spacecraft with actuator saturation

Mei

Gong

Liao

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

This paper aims to address an integrated relative attitude and position fault-tolerant control strategy between a follower spacecraft and a leader spacecraft for coupled spacecraft tracking maneuver in the case of inertia parametric uncertainties, external disturbances, actuator failures, and saturation. The coupled rotational and translational kinematics and dynamics of the rigid spacecraft are derived on the Lie group SE(3), where the actuator failures and saturation are taken into account. Then, a 6-DOF extended state observer is proposed by using terminal sliding mode technique to estimate the lumped disturbance in finite time. An adaptive generalized super twisting algorithm of fault-tolerant controller is developed to guarantee the finite-time stability based on the estimated lumped disturbance information. The stability of the closed-loop system is proved in spite of the aforementioned disturbances via the Lyapunov analysis. Finally, the numerical simulation illustrates the effectiveness of the proposed control strategy.

show abstract

“…where j ¼ 1; 2, /, 6, and then the observer errors in (28) can converge in finite time to the region…”

Section: Proof Of Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A 6-DOF extended state observer–based adaptive generalized super twisting algorithm of fault-tolerant control for coupled spacecraft with actuator saturation

Mei

Gong

Liao

2022

Proceedings of the Institution of Mechanical Engineers, Part G:

View full text Add to dashboard Cite

show abstract

“…The interaction dynamics between the main‐body UAV and loading manipulator, and the manipulator and environment are complex. The extended state observer (ESO) provides an effective method to deal with the lumped disturbance 24,29 …”

Section: Introductionmentioning

confidence: 99%

Fault‐tolerant control of an aerial manipulator with guaranteed tracking performance

Ding

Wang

Chen

2021

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

In this article, a fault‐tolerant control (FTC) scheme of an aerial manipulator is proposed, which can guarantee the transient and steady‐state tracking performance under actuator faults. A novel performance function (NPF) with simple form and explicit terminal time is designed to constrain the tracking errors. First, backstepping technique combined with the NPF is adopted as control framework to guarantee the asymptotic stability. Then, adaptive nonsingular terminal sliding mode with estimated actuator faults is used as the robust controller to deal with actuator fault. Finally, extended state observer is used to estimate and compensate complex coupling effects between the main‐body UAV and loading manipulator, and external disturbance. The stability of the aerial manipulator system with actuator faults and external disturbance is proved by Lyapunov analysis. Besides, the effect of the turbulent wind field on the body of the vehicle is analyzed. Several comparative simulations are carried out to show the effectiveness of the proposed FTC scheme.

show abstract

“…Works dedicated to the fault-tolerant attitude control of rigid body can be found in Zhang et al (2020), Yin et al (2018); Hu et al (2018), Sun et al (2018); and Xiao et al (2014). Sliding mode control (SMC) is vastly used to compensate for actuator faults in attitude synchronization and tracking because of rapid response, easy implementation and intrinsic robustness against the faults, disturbance and uncertainties (Zhang et al , 2019; Rezaei and Menhaj, 2018; Qiao et al , 2020).…”

Section: Introductionmentioning

confidence: 99%

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

Mihankhah

Doustmohammadi

2021

AEAT

View full text Add to dashboard Cite

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.

show abstract

Extended state observer-based attitude fault-tolerant control of rigid spacecraft

Cited by 12 publications

References 40 publications

A 6-DOF extended state observer–based adaptive generalized super twisting algorithm of fault-tolerant control for coupled spacecraft with actuator saturation

A 6-DOF extended state observer–based adaptive generalized super twisting algorithm of fault-tolerant control for coupled spacecraft with actuator saturation

Fault‐tolerant control of an aerial manipulator with guaranteed tracking performance

Adaptive neural-based finite-time attitude synchronization and tracking control of multiple rigid bodies under actuator faults and saturation

Contact Info

Product

Resources

About