Robust adaptive fixed-time 6 DOF tracking control for spacecraft non-cooperative rendezvous
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- 英文论文题名：Robust adaptive fixed-time 6 DOF tracking control for spacecraft non-cooperative rendezvous
- 论文作者：Yi Huang ; Yingmin Jia
- 英文论文作者：Yi Huang ; Yingmin Jia ; The Seventh Research Division and the Center for Information and Control ; School of Automation Science and Electrical Engineering ; Beihang University (BUAA)
- 年：2017
- 作者机构：The Seventh Research Division and the Center for Information and Control,School of Automation Science and Electrical Engineering,Beihang University (BUAA);
- 英文论文关键词：non-cooperative rendezvous ; 6 DOF ; fixed-time ; robust control ; nonsingular terminal sliding mode ; spacecraft
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：V448.2;V526
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：325k
- 原文格式：D
- 会议级别：全国
摘要
In this paper, the problem of adaptive fixed-time 6 degree-of-freedom(DOF) tracking control for spacecraft noncooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface(MFSMS) is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions. Subsequently, an adaptive fixed-time nonsingular terminal sliding mode(AFNTSM)control law is proposed, which is continuous and can eliminate the chattering phenomenon. Moreover, the proposed AFNTSM control law does not require the precise information of the mass and inertia matrix of the chaser spacecraft and the disturbances.Further, it is proved that the fixed-time reachability of the relative position and attitude into a small region containing the origin can be guaranteed by the proposed control law. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.
In this paper, the problem of adaptive fixed-time 6 degree-of-freedom(DOF) tracking control for spacecraft noncooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface(MFSMS) is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions. Subsequently, an adaptive fixed-time nonsingular terminal sliding mode(AFNTSM)control law is proposed, which is continuous and can eliminate the chattering phenomenon. Moreover, the proposed AFNTSM control law does not require the precise information of the mass and inertia matrix of the chaser spacecraft and the disturbances.Further, it is proved that the fixed-time reachability of the relative position and attitude into a small region containing the origin can be guaranteed by the proposed control law. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.
In this paper, the problem of adaptive fixed-time 6 degree-of-freedom(DOF) tracking control for spacecraft noncooperative rendezvous in presence of the parameter uncertainties and external disturbances is investigated. Firstly, a new multilayer fixed-time sliding mode surface(MFSMS) is designed, and the setting time of the proposed surface can be estimated without the knowledge of the initial conditions. Subsequently, an adaptive fixed-time nonsingular terminal sliding mode(AFNTSM)control law is proposed, which is continuous and can eliminate the chattering phenomenon. Moreover, the proposed AFNTSM control law does not require the precise information of the mass and inertia matrix of the chaser spacecraft and the disturbances.Further, it is proved that the fixed-time reachability of the relative position and attitude into a small region containing the origin can be guaranteed by the proposed control law. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.
引文
[1]Gao H,Yang X,Shi P,Multi-objective robust control of spacecraft rendezvous,IEEE Transactions on Control Systems Technology,2009,17(4):794-802.
[2]Huang Y,Jia Y,Matsuno F,Robust H∞control for spacecraft formation flying with coupled translational and rotation dynamics,American Control Conference(ACC),2016.American Automatic Control Council(AACC),2016:4059-4064.
[3]Pukdeboon C,Kumam P,Robust optimal sliding mode control for spacecraft position and attitude maneuvers,Aerospace Science and Technology,2015,43:329-342.
[4]W Xu,B Liang,C Li,Y Xu,Autonomous rendezvous and robotic capturing of non-cooperative target in space,Robotica,2010,28(05):705-718.
[5]Segal S,Carmi A,Gurfil P,Stereovision-based estimation of relative dynamics between noncooperative satellites:theory and experiments,IEEE Transactions on Control Systems Technology,2014,22(2):568-584.
[6]JD Boskovic,SM Li,RK Mehra,Globally stable adaptive tracking control design for spacecraft under input saturation,Decision and Control,1999.Proceedings of the 38th IEEEConference on.IEEE,1999,2:1952-1957.
[7]Yingmin Jia,Robust Control with Decoupling Performance for Steering and Traction of 4WS Vehicles under VelocityVarying Motion,IEEE Transactions on Control Systems Technology,8(2000),3:554-569.
[8]Yingmin Jia,Alternative Proofs for Improved LMI Representations for the Analysis and the Design of Continuous-Time Systems with Polytopic Type Uncertainty:A Predictive Approach,IEEE Transactions on Automatic Control,48(2003),8:1413-1416.
[9]H Liu,X Shi,L Li,J Yang,Nonsingular terminal sliding mode control for approach to non-cooperative satellite,The27th Chinese Control and Decision Conference(2015 CCD-C).IEEE,2015:1524-1529.
[10]Duan G R,Non-cooperative rendezvous and interception-Adirect parametric control approach,Intelligent Control and Automation(WCICA),2014 11th World Congress on.IEEE,2014:3497-3504.
[11]Zhao L,Jia Y,Finite-time attitude tracking control for a rigid spacecraft using time-varying terminal sliding mode techniques,International Journal of Control,2015,88(6):1150-1162.Journal of Control,2015,88(6):1150-1162.
[12]Lu K,Xia Y.Finite-time attitude stabilization for rigid spacecraft,International Journal of Robust and Nonlinear Control,2015,25(1):32-51.
[13]Hu Q,Zhang J,Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements,ISA transactions,2015,54:60-74.
[14]Polyakov A,Nonlinear feedback design for fixed-time stabilization of linear control systems,IEEE Transactions on Automatic Control,2012,57(8):2106-2110.
[15]Zuo Z,Tie L,A new class of finite-time nonlinear consensus protocols for multi-agent systems,International Journal of Control,2014,87(2):363-370.
[16]Jiang B,Hu Q,Friswell M I,Fixed-time rendezvous control of spacecraft with a tumbling target under loss of actuator effectiveness,IEEE Transactions on Aerospace and Electronic Systems,2016,52(4):1576-1586.
[17]Zou A M,Kumar K D,Distributed attitude coordination control for spacecraft formation flying,IEEE Transactions on Aerospace and Electronic Systems,2012,48(2):1329-1346.
[18]Yamanaka K,Ankersen F,New state transition matrix for relative motion on an arbitrary elliptical orbit,Journal of guidance,control,and dynamics,2002,25(1):60-66.
[19]M Xin,H Pan,Nonlinear optimal control of spacecraft approaching a tumbling target,Aerospace Science and Technology,2011,15(2):79-89.
[20]A.F.Filippov,Differential Equations with Discontinuous Right-Hand Side,Kluwer,Dordrecht,The Netherlands,1988.
[21]Sun L,Huo W,Robust adaptive relative position tracking and attitude synchronization for spacecraft rendezvous,Aerospace Science and Technology,2015,41:28-35.
[22]Zuo Z,Nonsingular fixed-time consensus tracking for secondorder multi-agent networks,Automatica,2015,54:305-309.
[23]Yingmin Jia,Robust H∞Control,Science Press,2007(In Chinese).
[2]Huang Y,Jia Y,Matsuno F,Robust H∞control for spacecraft formation flying with coupled translational and rotation dynamics,American Control Conference(ACC),2016.American Automatic Control Council(AACC),2016:4059-4064.
[3]Pukdeboon C,Kumam P,Robust optimal sliding mode control for spacecraft position and attitude maneuvers,Aerospace Science and Technology,2015,43:329-342.
[4]W Xu,B Liang,C Li,Y Xu,Autonomous rendezvous and robotic capturing of non-cooperative target in space,Robotica,2010,28(05):705-718.
[5]Segal S,Carmi A,Gurfil P,Stereovision-based estimation of relative dynamics between noncooperative satellites:theory and experiments,IEEE Transactions on Control Systems Technology,2014,22(2):568-584.
[6]JD Boskovic,SM Li,RK Mehra,Globally stable adaptive tracking control design for spacecraft under input saturation,Decision and Control,1999.Proceedings of the 38th IEEEConference on.IEEE,1999,2:1952-1957.
[7]Yingmin Jia,Robust Control with Decoupling Performance for Steering and Traction of 4WS Vehicles under VelocityVarying Motion,IEEE Transactions on Control Systems Technology,8(2000),3:554-569.
[8]Yingmin Jia,Alternative Proofs for Improved LMI Representations for the Analysis and the Design of Continuous-Time Systems with Polytopic Type Uncertainty:A Predictive Approach,IEEE Transactions on Automatic Control,48(2003),8:1413-1416.
[9]H Liu,X Shi,L Li,J Yang,Nonsingular terminal sliding mode control for approach to non-cooperative satellite,The27th Chinese Control and Decision Conference(2015 CCD-C).IEEE,2015:1524-1529.
[10]Duan G R,Non-cooperative rendezvous and interception-Adirect parametric control approach,Intelligent Control and Automation(WCICA),2014 11th World Congress on.IEEE,2014:3497-3504.
[11]Zhao L,Jia Y,Finite-time attitude tracking control for a rigid spacecraft using time-varying terminal sliding mode techniques,International Journal of Control,2015,88(6):1150-1162.Journal of Control,2015,88(6):1150-1162.
[12]Lu K,Xia Y.Finite-time attitude stabilization for rigid spacecraft,International Journal of Robust and Nonlinear Control,2015,25(1):32-51.
[13]Hu Q,Zhang J,Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements,ISA transactions,2015,54:60-74.
[14]Polyakov A,Nonlinear feedback design for fixed-time stabilization of linear control systems,IEEE Transactions on Automatic Control,2012,57(8):2106-2110.
[15]Zuo Z,Tie L,A new class of finite-time nonlinear consensus protocols for multi-agent systems,International Journal of Control,2014,87(2):363-370.
[16]Jiang B,Hu Q,Friswell M I,Fixed-time rendezvous control of spacecraft with a tumbling target under loss of actuator effectiveness,IEEE Transactions on Aerospace and Electronic Systems,2016,52(4):1576-1586.
[17]Zou A M,Kumar K D,Distributed attitude coordination control for spacecraft formation flying,IEEE Transactions on Aerospace and Electronic Systems,2012,48(2):1329-1346.
[18]Yamanaka K,Ankersen F,New state transition matrix for relative motion on an arbitrary elliptical orbit,Journal of guidance,control,and dynamics,2002,25(1):60-66.
[19]M Xin,H Pan,Nonlinear optimal control of spacecraft approaching a tumbling target,Aerospace Science and Technology,2011,15(2):79-89.
[20]A.F.Filippov,Differential Equations with Discontinuous Right-Hand Side,Kluwer,Dordrecht,The Netherlands,1988.
[21]Sun L,Huo W,Robust adaptive relative position tracking and attitude synchronization for spacecraft rendezvous,Aerospace Science and Technology,2015,41:28-35.
[22]Zuo Z,Nonsingular fixed-time consensus tracking for secondorder multi-agent networks,Automatica,2015,54:305-309.
[23]Yingmin Jia,Robust H∞Control,Science Press,2007(In Chinese).