期刊
ASIAN JOURNAL OF CONTROL
卷 22, 期 1, 页码 423-435出版社
WILEY
DOI: 10.1002/asjc.1888
关键词
Attitude tracking; rigid spacecraft; sliding mode control; finite-time stability; exponential coordinates
资金
- National Natural Science Foundation of China [61773142]
- Fund of China Academy of Launch Vehicle Technology
- Fund of Quanzhou Science and Technology Bureau [2017T010, 2017T009]
This paper investigates the fixed-time attitude tracking problem for rigid spacecraft in the presence of inertial uncertainties, external disturbances, actuator faults, and input saturation constraints. The logarithm map is first utilized to transform the tracking problem on SO(3) into the stabilization one on its associated Lie algebra (so(3)). A novel nonsingular fixed-time-based sliding mode is designed, which not only avoids the singularity but also guarantees that the convergence time of tracking errors along the sliding surface is independent of the state value. Then, an adaptive fault-tolerant control law is constructed, in which an online adaptive law is incorporated to estimate the upper boundary of the lumped uncertainties. The combined control scheme enforces the system state to reach a neighborhood of the sliding surface in the sense of the fixed-time concept. The key feature of the resulting control scheme is that it can accommodate actuator failures under limited control torque without the knowledge of fault information. Numerical simulations are finally performed to demonstrate the effectiveness of the proposed fixed-time controllers.
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