Robust fault-tolerant attitude tracking with guaranteed prescribed performance

Yue, Chengfei; Wang, Feng; Cao, Xi‐Ren; Shen, Qiang; Chen, Xueqin

doi:10.1016/j.jfranklin.2019.10.003

Cited by 30 publications

(14 citation statements)

References 31 publications

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“…It is worth noting that as 𝜇 1 ∈ R m×m and 𝜇 2 ∈ R m×m are always invertible for e j ∈ (−𝜂 1j , 𝜂 2j ) and x 2j ∈ (−𝜂 3j , 𝜂 4j ), the proposed transformation therefore ensures that the transformed system (19) is completely controllable, it is such feature that makes the proposed method capable of handling a variety of constraints, including those constraining boundaries that sometimes might be positive, sometimes negative or even zero.…”

Section: System Transformationmentioning

confidence: 99%

“…In Reference 11, the tracking precision could be obtained in prescribed time, however, it relies on initial condition and several other design parameters. There are also various control schemes exclusively developed for Euler-Lagrange systems in literatures, [14][15][16][17][18][19][20] wherein the final tracking accuracy cannot be preassigned or precise tracking is not achieved until infinite time. [18][19][20] Although the control approach is able to achieve prescribed tracking precision that can be determined by the designer in the work, 13,21 which however is not uniformly applicable to the case with and without constraints.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Prescribed time tracking control of constrained Euler–Lagrange systems: An adaptive proportional–integral solution

Cui

Cao

Wang

et al. 2021

Intl J Robust & Nonlinear

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Most autonomous systems can be described by Euler-Lagrange (EL) model. This article investigates the problem of prescribed time tracking control for EL systems in the presence of modeling uncertainties, prescribed performance requirements and time-varying state constraints. Two proportional-integral (PI)-like control schemes with time-varying gains are developed with several favorable features: (1) achieving prescribed tracking precision within finite time in the presence of modeling uncertainties; (2) state constraints being obeyed all the time; (3) both the final tracking accuracy and the setting time being preassigned irrespective of initial condition or any other constraining parameter; and (4) bearing simple PI structure with analytical formula for robust-adaptive tuning gains, and demanding inexpensive online computation. The benefits and effectiveness of the proposed control are also validated via numerical simulation.

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Section: System Transformationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Prescribed time tracking control of constrained Euler–Lagrange systems: An adaptive proportional–integral solution

Cui

Cao

Wang

et al. 2021

Intl J Robust & Nonlinear

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show abstract

“…As is known to all, the primary strategy of FTC consists of two types: passive FTC and active FTC 9 . The passive FTC can only deal with the preset fault passively which cannot be applied to other scenarios, though, active FTC can estimate the fault signals and then reconstruct the controller which has better application effect 10 . A functional observer was designed to overcome the Lipschitz nonlinearity and time‐varying sensor fault for the flexible spacecraft in Reference 11, where the sensor fault was obtained by filtering the output estimation residual, and a dynamic output feedback controller was developed to achieve system stability.…”

Section: Introductionmentioning

confidence: 99%

“…cannot be applied to other scenarios, though, active FTC can estimate the fault signals and then reconstruct the controller which has better application effect. 10 A functional observer was designed to overcome the Lipschitz nonlinearity and time-varying sensor fault for the flexible spacecraft in Reference 11, where the sensor fault was obtained by filtering the output estimation residual, and a dynamic output feedback controller was developed to achieve system stability. Applying velocity observer, an adaptive fault-tolerant controller was developed in Reference 12, nonetheless, this method cannot detect the fault online.…”

mentioning

confidence: 99%

Constrained multi‐observer‐based fault‐tolerant disturbance‐rejection control for rigid spacecraft

Lyu

Yue

Liu

2022

Intl J Robust & Nonlinear

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This article develops a multi-observer-based fault-tolerant disturbance-rejection control strategy to solve the attitude stabilization problem of spacecraft subject to multisource complex disturbances, for example, external disturbance, measurement error, actuator fault, input constraint. First, two intermediate variables are introduced for multi-observer design, so that the synergistic estimations of attitude information, actuator fault and external disturbance are obtained simultaneously. Then, a fault-tolerant disturbance-rejection control strategy is proposed based on the estimations, and an augmented closed-loop system is derived. Afterwards, Lyapunov stability analysis is performed to prove the quadratic stability and robust H ∞ performance, and corresponding conditions in terms of linear matrix inequalities (LMIs) is proved, where the input constraint is satisfied as well. Finally, numerical simulations of a spacecraft attitude control system are performed which demonstrate the effectiveness and superiority of the proposed multi-observer-based control strategy.

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“…More specifically, A constrained terminal sliding mode attitude control for quadrotor considering actuator saturation was introduced in [30]. To enhance the efficacy of the satellite and to prevent damages to the satellite due to poor tracking performance, a fault-tolerant attitude control with guaranteed performance has been presented in [31]. In [32], a PPC for spacecraft attitude stabilization and tracking has been proposed in which the rotation velocity of the spacecraft is estimated with a differentiator.…”

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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Robust fault-tolerant attitude tracking with guaranteed prescribed performance

Cited by 30 publications

References 31 publications

Prescribed time tracking control of constrained Euler–Lagrange systems: An adaptive proportional–integral solution

Prescribed time tracking control of constrained Euler–Lagrange systems: An adaptive proportional–integral solution

Constrained multi‐observer‐based fault‐tolerant disturbance‐rejection control for rigid spacecraft

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

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