Fully Adaptive-Gain-Based Intelligent Failure-Tolerant Control for Spacecraft Attitude Stabilization Under Actuator Saturation

Zhou, N.; Cheng, Xiaodong; Xia, Yuanqing; Liu, Yanjun

doi:10.1109/tcyb.2020.2969281

Cited by 35 publications

(11 citation statements)

References 43 publications

(73 reference statements)

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“…This kind of UAV has noteworthy properties, including a simple structure and easy operation [ 3 , 4 ]. In addition, its precise industrial applications, such as damage inspection, border patrolling, and mapping, cannot be denied [ 5 , 6 ]. Therefore, it is very important to design a high-performance control method for quad-rotor systems in different situations.…”

Section: Introductionmentioning

confidence: 99%

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

Alattas

Mofid

Alanazi

et al. 2022

Sensors

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This paper proposes a barrier function adaptive non-singular terminal sliding mode controller for a six-degrees-of-freedom (6DoF) quad-rotor in the existence of matched disturbances. For this reason, a linear sliding surface according to the tracking error dynamics is proposed for the convergence of tracking errors to origin. Afterward, a novel non-singular terminal sliding surface is suggested to guarantee the finite-time reachability of the linear sliding surface to origin. Moreover, for the rejection of the matched disturbances that enter into the quad-rotor system, an adaptive control law based on barrier function is recommended to approximate the matched disturbances at any moment. The barrier function-based control technique has two valuable properties. First, this function forces the error dynamics to converge on a region near the origin in a finite time. Secondly, it can remove the increase in the adaptive gain because of the matched disturbances. Lastly, simulation results are given to demonstrate the validation of this technique.

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Section: Introductionmentioning

confidence: 99%

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

Alattas

Mofid

Alanazi

et al. 2022

Sensors

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“…Remark 2: The function (1−ε 1 ) −2 is always positive. Thus, −s T (1−ε 1 ) −2 s < 0 is ensured and it can be removed from the left hand side of the inequality (17). It should also be pointed out that when the quaternion approaches its boundary ρ q , then ε 1i tends to one and function (1 − ε 1 ) −2 increases to prevent the quaternion from growing and steers it to zero.…”

Section: Constrained Pd-type Controlmentioning

confidence: 97%

“…The associate editor coordinating the review of this manuscript and approving it for publication was Hai Wang . problem has witnessed a considerable development, there is still a challenging issue on how to design an effective attitude control in spite of the actuators saturation and external disturbance. Considering these two factors, a wide variety of attitude controls for rigid body systems has been presented; see for example [14]- [17].…”

Section: Introductionmentioning

confidence: 99%

A Simple Structure Constrained Attitude Control for Rigid Bodies: A PD-Type Control

et al. 2022

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This study investigates the challenging and complicated issue of full-state constraint attitude control for rigid bodies under actuators physical limitation. Using the concept of prescribed performance control (PPC), a novel proportional-derivative (PD)-type control is introduced by which both the attitude quaternion and the rotation velocity of the rigid body are enforced to possess specific behaviors in transient and steady state. To this end, a prescribed performance function (PPF) with finite-time convergence is first defined as the predefined boundaries for the quaternion and rotation velocity. Subsequently, a constrained PD-type attitude control for rigid body attitude system is developed. The significant difference between the proposed methodology and the PPC is the simple structure of the controller making it more applicable from practical implementation point of view. Indeed, due to the use of error transformation in the PPC, the controller contains partial derivative terms and complicated functions even for only constraining the attitude quaternion. When it comes to angular velocity constraint as well, the complexity of the control design procedure is doubled. It is rigorously proved that the suggested control framework can successfully satisfy constraints not only on the quaternion but also on the angular velocity, simultaneously. These interesting results are obtained even when the actuator saturation is considered. The simulation results conducted on a rigid spacecraft verify the efficacy and applicability of the suggested constrained attitude control approach.INDEX TERMS Attitude control, rigid body, full-state constraint, input saturation, PD-type control.

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“…In this section, we design a robust control strategy to track the desired velocity in (21). Utilizing the final desired velocity ẋd and position x d , the two tracking errors are defined as First, we design a FTTSM, following the design of [28], [33], which is constructed by two functions σ 1i : R 3 × R 3 → R 3 and σ 2i : R 3 × R 3 → R 3 for each i ∈ V :…”

Section: Robust Tracking Control Designmentioning

confidence: 99%

Fixed-Time Cooperative Behavioral Control for Networked Autonomous Agents with Second-Order Nonlinear Dynamics

Zhou,

Cheng,

Sun

et al. 2021

Preprint

Self Cite

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In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle avoidance. In the proposed approach, the two behaviors(tasks) for each agent are prioritized and integrated via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixedtime convergence of task errors. To track this desired velocity, we design a fixed-time sliding mode controller for each agent with state-independent adaptive gains, which provides a fixedtime convergence of the tracking error. The control scheme is implemented in a distributed manner, where each agent only acquires information from its neighbors in the network. Moreover, we adopt an online learning algorithm to improve the robustness of the closed system with respect to uncertainties/disturbances. Finally, simulation results are provided to show the effectiveness of the proposed approach.

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Fully Adaptive-Gain-Based Intelligent Failure-Tolerant Control for Spacecraft Attitude Stabilization Under Actuator Saturation

Cited by 35 publications

References 43 publications

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

Barrier Function Adaptive Nonsingular Terminal Sliding Mode Control Approach for Quad-Rotor Unmanned Aerial Vehicles

A Simple Structure Constrained Attitude Control for Rigid Bodies: A PD-Type Control

Fixed-Time Cooperative Behavioral Control for Networked Autonomous Agents with Second-Order Nonlinear Dynamics

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