Quaternion-Based Non-Singular Terminal Sliding Mode Control for a Satellite-Mounted Space Manipulator

被引：1

作者：

Giordano, Jacopo ^{[1
]}

Cenedese, Angelo ^{[1
]}

机构：

[1] Univ Padua, Dept Informat Engn, I-35131 Padua, Italy

来源：

IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷 / 2659-2664期

关键词：

Quaternions; Aerospace electronics; Space vehicles; Manipulator dynamics; Uncertainty; Arms; Angular velocity; Space manipulator; quaternions; Index Terms; sliding mode control; robust control; free-flying;

D O I：

10.1109/LCSYS.2023.3288260

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this letter, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamical model of the system is derived based on quaternions to describe the evolution of the attitude of the base satellite. Then, a non-singular terminal sliding mode controller that employs quaternions for attitude control, is proposed for concurrently handling all the degrees of freedom of the system. Moreover, an additional adaptive term is embedded in the controller to estimate the upper bounds of disturbances and uncertainties. The result is a resilient solution able to withstand unmodelled dynamics and interactions. Lyapunov theory is used to prove the stability of the controller and numerical simulations allow assessing performance and fuel efficiency.

引用

页码：2659 / 2664

页数：6

共 14 条

[1]

Christidi-Loumpasefski OO, 2020, IEEE INT CONF ROBOT, P6014, DOI [10.1109/icra40945.2020.9197187, 10.1109/ICRA40945.2020.9197187]

[2] Finite-Time Attitude Tracking Control of Spacecraft With Application to Attitude Synchronization [J].

Du, Haibo ;

Li, Shihua ;

Qian, Chunjiang .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2011, 56 (11) :2711-2717

[3] Adaptive fuzzy terminal sliding mode control for the free-floating space manipulator with free-swinging joint failure [J].

Jia, Qingxuan ;

Yuan, Bonan ;

Chen, Gang ;

Fu, Yingzhuo .

CHINESE JOURNAL OF AERONAUTICS, 2021, 34 (09) :178-198

[4] Continuous integral sliding mode control for space manipulator with actuator uncertainties [J].

Jia, Shiyuan ;

Shan, Jinjun .

AEROSPACE SCIENCE AND TECHNOLOGY, 2020, 106

[5] Finite-Time Trajectory Tracking Control of Space Manipulator Under Actuator Saturation [J].

Jia, Shiyuan ;

Shan, Jinjun .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2020, 67 (03) :2086-2096

[6] Simultaneous Arrival to Origin Convergence: Sliding-Mode Control Through the Norm-Normalized Sign Function [J].

Li, Dongyu ;

Ge, Shuzhi Sam ;

Lee, Tong Heng .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2022, 67 (04) :1966-1972

[7] Sliding on Manifolds: Geometric Attitude Control with Quaternions [J].

Lopez, Brett T. ;

Slotine, Jean-Jacques E. .

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, :11140-11146

[8] Robotic Manipulation and Capture in Space: A Survey [J].

Papadopoulos, Evangelos ;

Aghili, Farhad ;

Ma, Ou ;

Lampariello, Roberto .

FRONTIERS IN ROBOTICS AND AI, 2021, 8

[9] Combined Nonlinear H∞ Controller for a Controlled-Floating Space Robot [J].

Seddaoui, Asma ;

Saaj, Chakravarthini M. .

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2019, 42 (08) :1878-1885

[10] Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance [J].

Shao, Xiangyu ;

Sun, Guanghui ;

Xue, Cong ;

Li, Xiaolei .

ACTA ASTRONAUTICA, 2021, 181 :396-404

← 1 2 →