Abstract
Fast and high-precision attitude control for the rigid spacecraft is important for its broad applications in astronautics. In this paper, we address this problem via continuous nonsingular fixed-time sliding mode control approach. At first, by improving the adding power integral technique, a nonsingular nominal attitude controller is presented to achieve fixed-time convergence of the unperturbed attitude system, which underpins the basics for design of the sliding mode motion and surfaces for the subsequent proposed main results. Then, a fixed-time full-order sliding mode controller with an explicit bound of settling time is proposed to track the desire attitude even in the presence of external disturbances. However, this controller requires the angular acceleration signals which is usually unmeasurable. To this end, an integral sliding mode controller is further presented to achieve fixed-time attitude tracking without using any acceleration information. This proposed integral sliding mode controller can realize second-order sliding mode with rigorous proof of fixed-time convergence. Both the proposed fixed time full-order and integral sliding mode controller are inherent nonsingular and chattering-free. Numerical examples are illustrated to demonstrate the effectiveness of the results given herein in practical scenarios.
Highlights
In the past decades, the attitude control of spacecraft has been paid attention widely from the control community for its broad applications in astronautics, such as deep space exploration, space-based interferometry and surveillance, etc. [1], [2]
As full-order sliding mode control and super twisting algorithm (STA) can both generate continuous control action, we further propose fixed-time full-order sliding mode controller (FxFSMC) and fixed-time integral sliding mode controller (FxISMC) to ensure zero attitude tracking error in fixed time, where STA is chosen as the reaching law of FxISMC
The parameters of FxFSMC and FxISMC are chosen via our recommended processes in Remark 2, 3, and 6, which are given as c1 = 0.81, c2 = 1.45, λ1 = 0.14, λ2 = 0.15, λ3 = 1.0, p = 0.8, q = 1.2 (μ1 = μ2 = 0.2), k1 = 1.5, k2 = 2, k3 = 1, k4 = k5 = 2, ρ = 1
Summary
The attitude control of spacecraft has been paid attention widely from the control community for its broad applications in astronautics, such as deep space exploration, space-based interferometry and surveillance, etc. [1], [2]. It is due to the inherent nonlinear and coupling characteristics in the attitude dynamics and kinematics, and because there are the severe external disturbances which arise from gravity gradient, atmospheric drag, and magnetic effects, etc [3]–[5]. To this end, a great many researches on spacecraft attitude control have been done under various assumptions and scenarios [4]–[9]. Finitetime stabilization is popular since it can provide faster conver-
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