Second-order sliding-mode on SO(3) and fault-tolerant spacecraft attitude control

Meng, Qingkai; Yang, Hao; Jiang, Bin

doi:10.1016/j.automatica.2022.110814

Cited by 18 publications

(2 citation statements)

References 14 publications

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“…Despite the mentioned advantages of SMC controller, it suffers from some drawbacks such as chattering phenomenon in control signal causes the actuator damage and excitation of unmodeled high-frequency dynamics of the system (Li et al, 2022). Several methods have been proposed to eliminate or diminish the chattering phenomenon such as replacing the sign function with a saturation function (Hsu and Chang, 2016), global SMC (Vu et al, 2021), second-order SMC (Meng et al, 2023), and fuzzy switching (Vo et al, 2018). Taking the fractional-order (FO) derivative from the sign function is the newest chattering phenomenon solutions called the extremum-seeking SMC (Yin et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Direct adaptive fractional-order non-singular terminal sliding mode control strategy using extreme learning machine for position control of 5-DOF upper-limb exoskeleton robot systems

Mirzaee,

Kazemi

2024

Transactions of the Institute of Measurement and Control

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This paper presents an innovative adaptive fractional-order (FO) terminal sliding mode (TSM) controller designed for a 5-degree-of-freedom (5-DOF) upper-limb exoskeleton robot. The primary focus is on addressing the challenges posed by nonlinearities and uncertainties in parameter values. The proposed approach integrates several key elements, including a novel fractional-order non-singular terminal sliding mode (FONSTSM) surface, an exponential reaching law, and the utilization of the extreme learning machine (ELM). This comprehensive strategy guarantees not only finite-time convergence but also robust stability, effectively alleviating the well-known chattering phenomenon. Furthermore, it successfully overcomes the singularity issues typically observed in conventional TSM controllers. The incorporation of the ELM with rectified linear unit (ReLU) activation function enhances robustness by facilitating the estimation of parameters related to the exponential control law. Numerical simulations provide compelling evidence of improved tracking, increased robustness against uncertainties, achievement of finite-time convergence, and notable reductions in control signal oscillations and singularity problems.

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Section: Introductionmentioning

confidence: 99%

Direct adaptive fractional-order non-singular terminal sliding mode control strategy using extreme learning machine for position control of 5-DOF upper-limb exoskeleton robot systems

Mirzaee,

Kazemi

2024

Transactions of the Institute of Measurement and Control

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“…Nonlinear control design of continuous-time spacecraft attitude control system has been the focus of many researchers in the subject of control engineering [1][2][3]. In most system models, it is impossible and/or very expensive to acquire all the states variables of the system.…”

Section: Introductionmentioning

confidence: 99%

An Observer-Based Backstepping Controller for Spacecraft Attitude Control System

Aljuwaiser¹

2023

IJETAE

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In this paper an observer-based controller is developed for continuous-time spacecraft attitude control system. Firstly, a high gain observer is created for the system model. Then, the estimated states are used to generate a backstepping controller to regulate the performance of sate variables to the desired states. Then, the nonlinear closed loop control system is simulated to demonstrate the effectiveness of the developed control approach in regulating the performance of the system to the desired steady state.

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Geometric tracking on 𝒮3 based on sliding mode control

Espíndola,

Tang

2024

Intl J Robust & Nonlinear

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Attitude tracking on the unit sphere of dimension 3 based on sliding mode is considered in this article. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first equipped with the structure of a Lie group, then a sliding subgroup emerged on it is defined. Next, a sliding‐mode controller is designed for attitude tracking that relies on an intrinsic error defined on the Lie group. Almost global asymptotic stability of the closed loop is demonstrated using the Lyapunov analysis. Comparisons of the proposed geometric sliding mode controller designed on the nonlinear manifold with one designed in the Euclidean space showed that under the same working conditions the former is more energy efficient, more robust to measurement noises, and has a shorter and smoother transient response.

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Second-order sliding-mode on SO(3) and fault-tolerant spacecraft attitude control

Cited by 18 publications

References 14 publications

Direct adaptive fractional-order non-singular terminal sliding mode control strategy using extreme learning machine for position control of 5-DOF upper-limb exoskeleton robot systems

Direct adaptive fractional-order non-singular terminal sliding mode control strategy using extreme learning machine for position control of 5-DOF upper-limb exoskeleton robot systems

An Observer-Based Backstepping Controller for Spacecraft Attitude Control System

Geometric tracking on 𝒮3 based on sliding mode control

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