Abstract
This study proposes an effective solution to the problem of attitude control for a rigid body satisfying angular velocity constraint as well as providing fault-tolerant capability. More specifically, a finite-time sliding surface containing attitude quaternion and angular velocity is first defined. Then, a novel tan-type prescribed performance control (PPC) with simple structure is presented to confine the sliding surface within a predefined performance boundary. Not only the attitude quaternion and angular velocity are indirectly constrained, but also it is thoroughly proved that the rotation velocity constraint is met even when severe actuators faults occur. The closed-loop attitude system is confirmed to be finite-time stable in the sense of Lyapunov stability. Numerical simulations clearly illustrate the effectiveness and usefulness of the suggested finite-time PPC despite actuator faults and environmental disturbances.
Highlights
Despite extensive research, including linear or nonlinear control, conducted on rigid body attitude stabilization on rotational sphere, it is still an open interesting problem
The attitude maneuver should be accomplished as fast and accurate as possible even if there are external disturbances, sensor saturation limit and actuator faults. Whereas numerous approaches such as disturbance observer-based control,1 output feedback,2 inverse optimal control,3 adaptive control,4 variable structure control,5 and HN control6 have been developed for rigid body attitude control system, a typical property of these works is that they are on the basis of the assumption that the system components do not experience any fault or failure
For the rigid body attitude system with dynamics equations [4], if the sliding manifold is suggested by [5] and the finite-time attitude control scheme is taken as [11], (a) the system trajectory is stable in the sense of finite-time stability concept, (b) the sliding vector evolves into predefined performance envelopes expressed by [8], and (c) the angular velocity constraint is satisfied
Summary
Despite extensive research, including linear or nonlinear control, conducted on rigid body attitude stabilization on rotational sphere, it is still an open interesting problem. The attitude maneuver should be accomplished as fast and accurate as possible even if there are external disturbances, sensor saturation limit and actuator faults Whereas numerous approaches such as disturbance observer-based control, output feedback, inverse optimal control, adaptive control, variable structure control, and HN control have been developed for rigid body attitude control system, a typical property of these works is that they are on the basis of the assumption that the system components do not experience any fault or failure. For the purpose of providing predefined performance for both the attitude quaternion as well as rotation velocity in transient and steady state phases, a finite-time convergent attitude control scheme for a rigid body is proposed. Numerical simulation and concluding remarks are provided in sections ‘‘Simulation results’’ and ‘‘Conclusion,’’ respectively
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