Fault‐tolerant finite‐time adaptive higher order sliding mode control with optimized parameters for attitude stabilization of spacecraft

Abstract

This article considers the problem of attitude regulation of rigid spacecraft under the effect of inertial ambiguity, exogenous disturbances, input saturation, and actuator uncertainties. In this regard, an adaptive second‐order sliding mode control (ASOSMC) is designed to provide robustness against the lumped disturbances (the combination of uncertainties and faults). The ASOSMC presents a two‐fold advantage over conventional SMC. The use of adaptive law eliminates the assumption of a priori knowledge on the upper bounds of the disturbances. Further, the SOSMC methodology alleviates the high‐frequency chattering in the input without compromising robustness. The theoretical analysis under the proposed strategy guarantees the convergence of sliding surface and system states to the origin in a finite‐time. Besides, this work also resolves the inbuilt problem of unwinding in the quaternion‐based attitude representation. Further, the nominal parameters of the proposed control law are optimized offline using an ant lion optimization method. The numerical simulation validates the effectiveness of the proposed controller by comparing its performance with the other existing controllers.

Modeling and Control Design for an Autonomous Underwater Vehicle Based on Atlantic Salmon Fish

“…Moreover, the tracking error performance of these three control schemes is also evaluated using the measures of integral of square error (ISE), integral of absolute error (IAE), integral of time square error (ITSE), and integral of time absolute error (ITAE). The expression of these performance measure can be seen from [49]. The values of these performance measures are tabulated in Table 2, which clearly shows that the proposed scheme has a minimum value in all the error measures as compared to the other two methods.…”

Nonsingular fixed‐time fault‐tolerant control for multiple Euler–Lagrange systems without continuous communication

“…In contrast to the works, 4,13,14 which research fault-tolerant algorithms with asymptotic or finite-time stability for nonlinear multi-agent systems and need the known bounds of system uncertainty when applied to Euler-Lagrange system, this paper develops the fixed-time fault-tolerant algorithm for MELSs and eliminates the limitation of this known bounds. Besides, the works 16,29,30 designed algorithms by using the following finite-time and fixed-time sliding mode surfaces…”

“…To enhance the robustness to actuator faults and bias fault, References 13 and 14 developed some adaptive finite‐time fault‐tolerant algorithms via backstepping control framework. Finite‐time fault‐tolerant algorithms have been proposed in References 15‐17 to cope with the combination of uncertainties. While the initial conditions are unknown in some procedures, such as military or disaster assist, finite‐time control related to the initial states cannot work.…”

Fuzzy logic control of five-DOF active magnetic bearing system based on sliding mode concept

“…In the aforementioned SMC techniques, the issue of the chattering phenomenon (Shtessel et al, 2014) is mainly addressed using the boundary layer technique. This technique resolves the problem of chattering at the cost of the robustness of SMC (Amrr et al, 2022c). Another effective approach to address the chattering is a higher-order SMC scheme (Levant, 2003;Davila et al, 2005;Defoort et al, 2009;Utkin et al, 2020).…”