Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft
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摘要
In this paper, the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed. First, a new nonsingular finite-time sliding surface is introduced and third-order sliding mode finite-time attitude control law is designed to achieve precise accurate tracking responses and robustness against inertia uncertainties and external disturbances.The stability of the closed-loop system is rigorously proved using the Lyapunov stability theory. Then, a new finite-time extended state observer is established to estimate total disturbances of the system. The extended stated observer-based sliding mode control technique yields improved disturbance rejection and high-precision attitude tracking. Moreover, this control law can avoid the unwinding phenomenon and overcome the input saturation constraint by introducing an auxiliary variable to compensate for the overshooting. A Lyapunov based analysis is provided to guarantee sufficiently small observation error and stabilization of the closed-loop system in finite time. Numerical simulations are conducted to verify the effectiveness of the proposed control method.
In this paper, the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed. First, a new nonsingular finite-time sliding surface is introduced and third-order sliding mode finite-time attitude control law is designed to achieve precise accurate tracking responses and robustness against inertia uncertainties and external disturbances.The stability of the closed-loop system is rigorously proved using the Lyapunov stability theory. Then, a new finite-time extended state observer is established to estimate total disturbances of the system. The extended stated observer-based sliding mode control technique yields improved disturbance rejection and high-precision attitude tracking. Moreover, this control law can avoid the unwinding phenomenon and overcome the input saturation constraint by introducing an auxiliary variable to compensate for the overshooting. A Lyapunov based analysis is provided to guarantee sufficiently small observation error and stabilization of the closed-loop system in finite time. Numerical simulations are conducted to verify the effectiveness of the proposed control method.
In this paper, the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed. First, a new nonsingular finite-time sliding surface is introduced and third-order sliding mode finite-time attitude control law is designed to achieve precise accurate tracking responses and robustness against inertia uncertainties and external disturbances.The stability of the closed-loop system is rigorously proved using the Lyapunov stability theory. Then, a new finite-time extended state observer is established to estimate total disturbances of the system. The extended stated observer-based sliding mode control technique yields improved disturbance rejection and high-precision attitude tracking. Moreover, this control law can avoid the unwinding phenomenon and overcome the input saturation constraint by introducing an auxiliary variable to compensate for the overshooting. A Lyapunov based analysis is provided to guarantee sufficiently small observation error and stabilization of the closed-loop system in finite time. Numerical simulations are conducted to verify the effectiveness of the proposed control method.
引文
1 Chen Z Y,Huang J.Attitude tracking and disturbance rejection of rigid spacecraft by adaptive control.IEEE Trans Autom Control,2009,54:600-605
2 Zhu Z,Xia Y Q,Fu M Y.Adaptive sliding mode control for attitude stabilization with actuator saturation.IEEETrans Ind Electron,2011,58:4898-4907
3 Yeh F K.Sliding-mode adaptive attitude controller design for spacecrafts with thrusters.IET Control Theory Appl,2010,4:1254-1264
4 Lu K F,Xia Y Q,Zhu Z,et al.Sliding mode attitude tracking of rigid spacecraft with disturbances.J Franklin Inst,2012,349:413-440
5 Luo W C,Chu Y C,Ling K V.Inverse optimal adaptive control for attitude tracking of spacecraft.IEEE Trans Autom Control,2005,50:1639-1654
6 Pukdeboon C,Zinober A S I.Control Lyapunov function optimal sliding mode controllers for attitude tracking of spacecraft.J Franklin Inst,2012,349:456-475
7 Zou A M.Finite-time output feedback attitude tracking control for rigid spacecraft.IEEE Trans Control Syst Technol,2014,22:338-345
8 Show L L,Juang J C,Jan Y W.An LMI-based nonlinear attitude control approach.IEEE Trans Control Syst Technol,2003,11:73-83
9 Cong B L,Liu X D,Chen Z.Backstepping based adaptive sliding mode control for spacecraft attitude maneuvers.JAerosp Eng,2013,22:1-7
10 Guo Y,Song S M.Adaptive finite-time backstepping control for attitude tracking of spacecraft based on rotation matrix.Chinese J Aeronaut,2014,27:375-382
11 Pisu P,Serrani A.Attitude tracking with adaptive rejection of rate gyro disturbances.IEEE Trans Autom Control,2007,52:2374-2379
12 Zou A M,Kumar K D.Adaptive fuzzy fault-tolerant attitude control of spacecraft.Control Eng Pract,2011,19:10-21
13 Utkin V I.Sliding Modes in Control and Optimization.Berlin:Spinger,1992
14 Bhat S P,Bernstein D S.Finite-time stability of continuous autonomous systems.SIAM J Control Opt,2000,38:751-766
15 Bhat S P,Bernstein D S.Geometric homogeneity with applications to finite-time stability.Math Control Signal Syst,2005,17:101-127
16 Man Z H,Paplinski A P,Wu H R.A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators.IEEE Trans Autom Control,1994,39:2464-2469
17 Wu Y Q,Yu X H,Man Z H.Terminal sliding mode control design for uncertain dynamic systems.Syst Control Lett,1998,34:281-287
18 Lu K F,Xia Y Q.Finite-time fault-tolerant control for rigid spacecraft with actuator saturations.IET Control Theory Appl,2013,7:1529-1539
19 Pukdeboon C,Siricharuanun P.Nonsingular terminal sliding mode based finite-time control for spacecraft attitude tracking.Int J Control Autom Syst,2014,12:530-540
20 Guo Y,Song S M,Li X H.Quaternion-based finite-time control for attitude tracking of the spacecraft without unwinding.Int J Control Autom Syst,2015,13:1351-1359
21 Zhao L,Jia Y M.Finite-time attitude tracking control for a rigid spacecraft using time-varying terminal sliding mode techniques.Int J Control,2015,88:1150-1162
22 Tiwari P M,Janardhanan S,un Nabi M.Rigid spacecraft attitude control using adaptive integral second order sliding mode.Aerosp Sci Technol,2015,42:50-57
23 Gui H,Vukovich G.Adaptive integral sliding mode control for spacecraft attitude tracking with actuator uncertainty.J Franklin Inst,2015,352:5832-5852
24 Chen M,Wu Q X,Cui R X.Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.ISA Trans,2013,52:198-206
25 Wallsgrove R J,Akella M R.Globally stabilizing saturated attitude control in the presence of bounded unknown disturbances.J Guid Control Dyn,2005,28:957-963
26 Boˇskovic J D,Li S M,Mehra R K.Robust adaptive variable structure control of spacecraft under control input saturation.J Guid Control Dyn,2001,24:14-22
27 Hu Q L,Li B,Qi J T.Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation.Aerosp Sci Technol,2014,39:13-21
28 Laghrouche S,Smaoui M,Plestan F,et al.Higher order sliding mode control based on optimal approach of an electropneumatic actuator.Int J Control,2006,79:119-131
29 Benahdouga S,Boukhetala D,Boudjema F.Decentralized high order sliding mode control of multimachine power systems.Int J Electr Power Energy Syst,2012,43:1081-1086
30 Tian B L,Zong Q,Wang J,et al.Quasi-continuous high-order sliding mode controller design for reusable launch vehicles in reentry phase.Aerosp Sci Technol,2013,28:198-207
31 Delprat S,de Loza A F.High order sliding mode control for hybrid vehicle stability.Int J Syst Sci,2014,45:1202-1212
32 Perruquetti W,Barbot J P.Sliding Mode Control in Engineering.New York:Marcel Dekker,2002
33 Edwards C,Colet E F,Fridman L.Advances in Variable Structure and Sliding Mode Control.Berlin:Springer,2006
34 Levant A.Higher-order sliding modes,differentiation and output-feedback control.Int J Control,2003,76:924-941
35 Levant A,Pridor A,Gitizadeh R,et al.Aircraft pitch control via second-order sliding technique.J Guid Control Dyn,2000,23:586-594
36 Shtessel Y B,Shkolnikov I A,Levant A.Smooth second-order sliding modes:missile guidance application.Automatica,2007,43:1470-1476
37 Pukdeboon C.Output feedback second order sliding mode control for spacecraft attitude and translation motion.Int J Control Autom Syst,2016,14:411-424
38 Pukdeboon C,Zinober A S I,Thein M W L.Quasi-continuous higher order sliding-mode controllers for spacecraftattitude-tracking maneuvers.IEEE Trans Ind Electron,2010,57:1436-1444
39 Shen Y X,Shao K Y,Ren W J,et al.Diving control of autonomous underwater vehicle based on improved active disturbance rejection control approach.Neurocomputing,2016,173:1377-1385
40 Su Y X,Zheng C H,Duan B Y.Automatic disturbances rejection controller for precise motion control of permanentmagnet synchronous motors.IEEE Trans Ind Electron,2005,52:814-823
41 Zhu Z,Xu D,Liu J M,et al.Missile guidance law based on extended state observer.IEEE Trans Ind Electron,2013,60:5882-5891
42 Lu K F,Xia Y Q.Finite-time fault-tolerant control for rigid spacecraft with actuator saturations.IET Control Theory Appl,2013,7:1529-1539
43 Yang J,Li S H,Yu X H.Sliding-mode control for systems with mismatched uncertainties via a disturbance observer.IEEE Trans Ind Electron,2012,60:160-169
44 Yang J,Li S H,Su J Y,et al.Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances.Automatica,2013,49:2287-2291
45 Yang J,Su J Y,Li S H,et al.High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach.IEEE Trans Ind Inf,2014,10:604-614
46 Yang J,Chen W H,Li S H,et al.Disturbance/uncertainty estimation and attenuation techniques in PMSM drivesa survey.IEEE Trans Ind Electron,2017,64:3273-3285
47 Wertz J R.Spacecraft Attitude Determination and Control.Berlin:Kluwer Academic,1978
48 Sidi M J.Spacecraft Dynamics and Control a Practical Engineering Approach.Cambridge:Cambridge University Press,1997
49 Shuster M D.A survey of attitude representations.J Astronaut Sci,1993,41:439-517
50 Lan Q X,Qian C J,Li S H.Finite-time disturbance observer design and attitude tracking control of a rigid spacecraft.J Dyn Syst Meas Control,2017,139:061010
51 Yan R D,Wu Z.Attitude stabilization of flexible spacecrafts via extended disturbance observer based controller.Acta Astronaut,2017,133:73-80
52 Zhong C X,Chen Z Y,Guo Y.Attitude control for flexible spacecraft with disturbance rejection.IEEE Trans Aerosp Electron Syst,2017,53:101-110
53 Chen M,Ren B B,Wu Q X,et al.Anti-disturbance control of hypersonic flight vehicles with input saturation using disturbance observer.Sci China Inf Sci,2015,58:070202
2 Zhu Z,Xia Y Q,Fu M Y.Adaptive sliding mode control for attitude stabilization with actuator saturation.IEEETrans Ind Electron,2011,58:4898-4907
3 Yeh F K.Sliding-mode adaptive attitude controller design for spacecrafts with thrusters.IET Control Theory Appl,2010,4:1254-1264
4 Lu K F,Xia Y Q,Zhu Z,et al.Sliding mode attitude tracking of rigid spacecraft with disturbances.J Franklin Inst,2012,349:413-440
5 Luo W C,Chu Y C,Ling K V.Inverse optimal adaptive control for attitude tracking of spacecraft.IEEE Trans Autom Control,2005,50:1639-1654
6 Pukdeboon C,Zinober A S I.Control Lyapunov function optimal sliding mode controllers for attitude tracking of spacecraft.J Franklin Inst,2012,349:456-475
7 Zou A M.Finite-time output feedback attitude tracking control for rigid spacecraft.IEEE Trans Control Syst Technol,2014,22:338-345
8 Show L L,Juang J C,Jan Y W.An LMI-based nonlinear attitude control approach.IEEE Trans Control Syst Technol,2003,11:73-83
9 Cong B L,Liu X D,Chen Z.Backstepping based adaptive sliding mode control for spacecraft attitude maneuvers.JAerosp Eng,2013,22:1-7
10 Guo Y,Song S M.Adaptive finite-time backstepping control for attitude tracking of spacecraft based on rotation matrix.Chinese J Aeronaut,2014,27:375-382
11 Pisu P,Serrani A.Attitude tracking with adaptive rejection of rate gyro disturbances.IEEE Trans Autom Control,2007,52:2374-2379
12 Zou A M,Kumar K D.Adaptive fuzzy fault-tolerant attitude control of spacecraft.Control Eng Pract,2011,19:10-21
13 Utkin V I.Sliding Modes in Control and Optimization.Berlin:Spinger,1992
14 Bhat S P,Bernstein D S.Finite-time stability of continuous autonomous systems.SIAM J Control Opt,2000,38:751-766
15 Bhat S P,Bernstein D S.Geometric homogeneity with applications to finite-time stability.Math Control Signal Syst,2005,17:101-127
16 Man Z H,Paplinski A P,Wu H R.A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators.IEEE Trans Autom Control,1994,39:2464-2469
17 Wu Y Q,Yu X H,Man Z H.Terminal sliding mode control design for uncertain dynamic systems.Syst Control Lett,1998,34:281-287
18 Lu K F,Xia Y Q.Finite-time fault-tolerant control for rigid spacecraft with actuator saturations.IET Control Theory Appl,2013,7:1529-1539
19 Pukdeboon C,Siricharuanun P.Nonsingular terminal sliding mode based finite-time control for spacecraft attitude tracking.Int J Control Autom Syst,2014,12:530-540
20 Guo Y,Song S M,Li X H.Quaternion-based finite-time control for attitude tracking of the spacecraft without unwinding.Int J Control Autom Syst,2015,13:1351-1359
21 Zhao L,Jia Y M.Finite-time attitude tracking control for a rigid spacecraft using time-varying terminal sliding mode techniques.Int J Control,2015,88:1150-1162
22 Tiwari P M,Janardhanan S,un Nabi M.Rigid spacecraft attitude control using adaptive integral second order sliding mode.Aerosp Sci Technol,2015,42:50-57
23 Gui H,Vukovich G.Adaptive integral sliding mode control for spacecraft attitude tracking with actuator uncertainty.J Franklin Inst,2015,352:5832-5852
24 Chen M,Wu Q X,Cui R X.Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.ISA Trans,2013,52:198-206
25 Wallsgrove R J,Akella M R.Globally stabilizing saturated attitude control in the presence of bounded unknown disturbances.J Guid Control Dyn,2005,28:957-963
26 Boˇskovic J D,Li S M,Mehra R K.Robust adaptive variable structure control of spacecraft under control input saturation.J Guid Control Dyn,2001,24:14-22
27 Hu Q L,Li B,Qi J T.Disturbance observer based finite-time attitude control for rigid spacecraft under input saturation.Aerosp Sci Technol,2014,39:13-21
28 Laghrouche S,Smaoui M,Plestan F,et al.Higher order sliding mode control based on optimal approach of an electropneumatic actuator.Int J Control,2006,79:119-131
29 Benahdouga S,Boukhetala D,Boudjema F.Decentralized high order sliding mode control of multimachine power systems.Int J Electr Power Energy Syst,2012,43:1081-1086
30 Tian B L,Zong Q,Wang J,et al.Quasi-continuous high-order sliding mode controller design for reusable launch vehicles in reentry phase.Aerosp Sci Technol,2013,28:198-207
31 Delprat S,de Loza A F.High order sliding mode control for hybrid vehicle stability.Int J Syst Sci,2014,45:1202-1212
32 Perruquetti W,Barbot J P.Sliding Mode Control in Engineering.New York:Marcel Dekker,2002
33 Edwards C,Colet E F,Fridman L.Advances in Variable Structure and Sliding Mode Control.Berlin:Springer,2006
34 Levant A.Higher-order sliding modes,differentiation and output-feedback control.Int J Control,2003,76:924-941
35 Levant A,Pridor A,Gitizadeh R,et al.Aircraft pitch control via second-order sliding technique.J Guid Control Dyn,2000,23:586-594
36 Shtessel Y B,Shkolnikov I A,Levant A.Smooth second-order sliding modes:missile guidance application.Automatica,2007,43:1470-1476
37 Pukdeboon C.Output feedback second order sliding mode control for spacecraft attitude and translation motion.Int J Control Autom Syst,2016,14:411-424
38 Pukdeboon C,Zinober A S I,Thein M W L.Quasi-continuous higher order sliding-mode controllers for spacecraftattitude-tracking maneuvers.IEEE Trans Ind Electron,2010,57:1436-1444
39 Shen Y X,Shao K Y,Ren W J,et al.Diving control of autonomous underwater vehicle based on improved active disturbance rejection control approach.Neurocomputing,2016,173:1377-1385
40 Su Y X,Zheng C H,Duan B Y.Automatic disturbances rejection controller for precise motion control of permanentmagnet synchronous motors.IEEE Trans Ind Electron,2005,52:814-823
41 Zhu Z,Xu D,Liu J M,et al.Missile guidance law based on extended state observer.IEEE Trans Ind Electron,2013,60:5882-5891
42 Lu K F,Xia Y Q.Finite-time fault-tolerant control for rigid spacecraft with actuator saturations.IET Control Theory Appl,2013,7:1529-1539
43 Yang J,Li S H,Yu X H.Sliding-mode control for systems with mismatched uncertainties via a disturbance observer.IEEE Trans Ind Electron,2012,60:160-169
44 Yang J,Li S H,Su J Y,et al.Continuous nonsingular terminal sliding mode control for systems with mismatched disturbances.Automatica,2013,49:2287-2291
45 Yang J,Su J Y,Li S H,et al.High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach.IEEE Trans Ind Inf,2014,10:604-614
46 Yang J,Chen W H,Li S H,et al.Disturbance/uncertainty estimation and attenuation techniques in PMSM drivesa survey.IEEE Trans Ind Electron,2017,64:3273-3285
47 Wertz J R.Spacecraft Attitude Determination and Control.Berlin:Kluwer Academic,1978
48 Sidi M J.Spacecraft Dynamics and Control a Practical Engineering Approach.Cambridge:Cambridge University Press,1997
49 Shuster M D.A survey of attitude representations.J Astronaut Sci,1993,41:439-517
50 Lan Q X,Qian C J,Li S H.Finite-time disturbance observer design and attitude tracking control of a rigid spacecraft.J Dyn Syst Meas Control,2017,139:061010
51 Yan R D,Wu Z.Attitude stabilization of flexible spacecrafts via extended disturbance observer based controller.Acta Astronaut,2017,133:73-80
52 Zhong C X,Chen Z Y,Guo Y.Attitude control for flexible spacecraft with disturbance rejection.IEEE Trans Aerosp Electron Syst,2017,53:101-110
53 Chen M,Ren B B,Wu Q X,et al.Anti-disturbance control of hypersonic flight vehicles with input saturation using disturbance observer.Sci China Inf Sci,2015,58:070202