Abstract
This article addresses the design and implementation of observer-based sliding mode controller with H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance for underactuated rendezvous system under the constraints of fault signals, maximum input, and disturbances. The nonlinear constrained model considered in this article is an underactuated system since the number of control input variables is less than that of state variables, besides, owing to the full state information is unavailable or not so accurate for the controller design, an observer is first constructed to estimate the full state of system, and then the state of observer is adopted to synthesize the integral-type sliding surface function. Considering three fault signals, input constraint, and disturbances, the stability criteria with H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> performance are derived based on Lyapunov method and the ellipsoidal approximation algorithm. Furthermore, the sliding mode control law is formulated to guarantee the sliding mode dynamic could be driven onto the sliding surface and remain there for subsequent time. Finally, the simulation experiments are implemented to verify the effectiveness of the proposed scheme for the underactuated rendezvous system.
Published Version
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