Abstract
his paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty, external disturbance, and saturated control input by designing two robust attitude tracking controllers. The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system. In this case, only the external disturbance with the prior information is considered. Then, to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance, a novel integral terminal sliding mode surface (ITSMS) is designed and associated with the continuous adaptive control method. Besides, a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem. Digital simulations are presented to verify the effectiveness of the proposed controllers.
Similar content being viewed by others
References
Zhang B, Liu K, and Xiang J, A stabilized optimal nonlinear feedback control for satellite attitude tracking, Aerospace Science and Technology, 2013, 27(1): 17–24.
Forbes J R, Passivity-based attitude control on the special orthogonal group of rigid-body rotations, Journal of Guidance Control and Dynamics, 2013, 36(6): 1596–1605.
Xiao B, Yin S, and Wu L, A structure simple controller for satellite attitude tracking maneuver, IEEE Transactions on Industrial Electronics, 2016, 64(2): 1436–1446.
Kristiansen R, Nicklasson P J, and Gravdahl J T, Satellite attitude control by quaternion-based backstepping, IEEE Transactions on Control Systems Technology, 2009, 17(1): 227–232.
Thakur D, Srikant S, and Akella M R, Adaptive attitude-tracking control of spacecraft with uncertain time-varying inertia parameters, Journal of Guidance Control and Dynamics, 2015, 38(1): 41–52.
Sun L and Zheng Z, Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties, Advances in Space Research, 2017, 59(7): 1861–1871.
Zou A M, Ruiter A H J D, and Kumar K D, Distributed finite-time velocity-free attitude coordination control for spacecraft formations, Automatica, 2016, 67: 46–53.
Tang Y, Terminal sliding mode control for rigid robots, Automatica, 1998, 34(1): 51–56.
Jin E and Sun Z, Robust controllers design with finite time convergence for rigid spacecraft attitude tracking control, Aerospace Science and Technology, 2008, 12(4): 324–330.
Mu C, Sun C, and Xu W, Fast sliding mode control on air-breathing hypersonic vehicles with transient response analysis, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2016, 230(1): 23–34.
Wu S, Radice G, Gao Y, et al., Quaternion-based finite time control for spacecraft attitude tracking, Acta Astronautica, 2009, 69(1–2): 48–58.
Sun Z, Zheng J, Wang H, et al., Adaptive fast non-singular terminal sliding mode control for a vehicle steer-by-wire system, IET Control Theory and Applications, 2017, 11(8): 1245–1254.
Wang L, Chai T, and Zhai L, Neural-network-based terminal sliding mode control of robotic manipulators including actuator dynamics, IEEE Transactions on Industrial Electronics, 2009, 56(9): 3296–3304.
Lee D and Vukovich G, Adaptive sliding mode control for spacecraft body-fixed hovering in the proximity of an asteroid, Aerospace Science and Technology, 2015, 46: 471–483.
Song Z, Li H, and Sun K, Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique, ISA Transactions, 2014, 53(1): 117–124.
Yu S, Yu X, Shirinzadeh B, et al., Continuous finite time control for robotic manipulators with terminal sliding mode, Automatica, 2005, 41(11): 1957–1964.
Pukdeboon C and Siricharuanun P, Nonsingular terminal sliding mode based finite-time control for spacecraft attitude tracking, International Journal of Control, Automation and Systems, 2014, 12(3): 530–540.
Zhou N, Xia Y, Wang M, et al., Finite-time attitude control of multiple rigid spacecraft using terminal sliding mode, International Journal of Robust and Nonlinear Control, 2015, 25(12): 1862–1876.
Lu K and Xia Y, Adaptive attitude tracking control for rigid spacecraft with finite-time convergence, Automatica, 2013, 49(12): 3591–3599.
Xia Y, Zhu Z, Fu M, et al., Attitude tracking of rigid spacecraft with bounded disturbances, IEEE Transactions on Industrial Electronics, 2011, 58(2): 647–659.
Zhou J and Yang J, Smooth sliding mode control for missile interception with finite-time convergence, Journal of Guidance Control and Dynamics, 2015, 38: 1–8.
Li P, Ma J, and Zheng Z, Robust adaptive sliding mode control for uncertain nonlinear MIMO system with guaranteed steady state tracking error bounds, Journal of the Franklin Institute, 2016, 353(2): 303–321.
Sun L, Wang W, Yi R, et al., A novel guidance law using fast terminal sliding mode control with impact angle constraints, ISA Transactions, 2016, 64: 12–23.
Guo J, Xue W, and Hu T, Active disturbance rejection control for PMLM servo system in CNC machining, Journal of Systems Science and Complexity, 2016, 29(1): 74–98.
Liu Y J, Tong S, Chen C L, et al., Neural controller design based adaptive control for nonlinear MIMO systems with unknown hysteresis inputs, IEEE Transactions on Cybernetics, 2016, 46(1): 9–19.
Chen, C L P, Liu Y J, and Wen G X, Fuzzy neural network based adaptive control for a class of uncertain nonlinear stochastic systems, IEEE Transactions on Cybernetics, 2014, 44(5): 583–593.
Li H, Wang L, Du H, et al., Adaptive fuzzy backstepping tracking control for strict-feedback systems with input delay, IEEE Transactions on Fuzzy Systems, 2017, 25(3): 642–652.
Edwards C and Shtessel Y B, Adaptive continuous higher order sliding mode control, Automatica, 2016, 65(C): 183–190.
Shtessel Y B and Tournes C H, Integrated higher-order sliding mode guidance and autopilot for dual control missiles, Journal of Guidance Control and Dynamics, 2009, 32(1): 79–94.
Derafa L, Benallegue A, and Fridman L, Super-twisting control algorithm for the attitude tracking of a four rotors UAV, Journal of the Franklin Institute, 2012, 349(2): 685–699.
Nagesh I and Edwards C, A multivariable super-twisting sliding mode approach, Automatica, 2014, 50(3): 984–988.
Lu K and Xia Y, Finite-time attitude control for rigid spacecraft-based on adaptive super-twisting algorithm, IET Control Theory and Applications, 2014, 8(15): 1465–1477.
Chalanga A, Kamal S, Fridman L M, et al., Implementation of super-twisting control: Supertwisting and higher order sliding-mode observer-based approaches, IEEE Transactions on Industrial Electronics, 2016, 63(6): 3677–3685.
Feng Y, Han F, and Yu X, Chattering free full-order sliding-mode control, Automatica, 2014, 50(4): 1310–1314.
Chen Q, Tao L, and Nan Y, Full-order sliding mode control for high-order nonlinear system based on extended state observer, Journal of Systems Science and Complexity, 2016, 29(4): 978–990.
Mobayen S, Fast terminal sliding mode controller design for nonlinear second-order systems with time-varying uncertainties, Complexity, 2015, 21(2): 239–244.
Lam Q M, Drake D T, and Ridgely D B, Input saturation treatments: A performance comparison of direct adaptive control and θ - D control methodologies, IEEE Aerospace Conference, 2007, 1–15.
De Ruiter A H J, Adaptive spacecraft attitude control with actuator saturation, Journal of Guidance Control and Dynamics, 2012, 33(5): 1692–1696.
Van Soest W R, Chu Q P, and Mulder J A, Combined feedback linearization and constrained model predictive control for entry flight, Journal of Guidance Control and Dynamic, 2006, 29(2): 427–434.
Gayaka S, Lu L, and Yao B, Global stabilization of a chain of integrators with input saturation and disturbances: A new approach, Automatica, 2012, 48(7): 1389–1396.
Wallsgrove, R J and Akella M R, Globally stabilizing saturated attitude control in the presence of bounded unknown disturbances, Journal of Guidance Control and Dynamics, 2005, 28(5): 957–963.
Akella M R, Valdivia A, and Kotamraju G R, Velocity-free attitude controllers subject to actuator magnitude and rate saturations, Journal of Guidance Control and Dynamics, 2005, 28(4): 659–666.
Bustan D, Pariz N, and Sani S K, Robust fault tolerant tracking control design for spacecraft under control input saturation, ISA Transactions, 2014, 53(4): 1073–1080.
Zou A M, Kumar K D, and De Ruiter, A H J, Robust attitude tracking control of spacecraft under control input magnitude and rate saturations, International Journal of Robust and Nonlinear Control, 2016, 26(4): 799–815.
Dong W, Farrell J A, Polycarpou M M, et al., Command filtered adaptive backstepping, IEEE Transactions on Control Systems Technology, 2012, 20(3): 566–580.
Xia K W and Huo W, Robust adaptive backstepping neural networks control for spacecraft rendezvous and docking with input saturation, ISA Transactions, 2016, 62: 249–257.
Du J, Hu X, and Krstic M, Robust dynamic positioning of ships with disturbances under input saturation, Automatica, 2016, 73: 207–214.
Shuster M D, A survey of attitude representations, The Journal of the Astronautical Sciences, 1993, 41(4): 439–517.
Gazi V and Ordonez R, Target tracking using artificial potentials and sliding mode control, International Journal of Control, 2007, 129(10): 4670–4675.
Chiu C S, Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems, Automatica, 2012, 48(2): 316–326.
Author information
Authors and Affiliations
Corresponding author
Additional information
This research was supported by the National Natural Science Foundation of China under Grant No. 61174037.
This paper was recommended for publication by Editor LIN Zongli.
Rights and permissions
About this article
Cite this article
Chen, H., Song, S. Robust Chattering-Free Finite Time Attitude Tracking Control with Input Saturation. J Syst Sci Complex 32, 1597–1629 (2019). https://doi.org/10.1007/s11424-019-7378-y
Received:
Revised:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11424-019-7378-y