Smooth finite-time coordinated attitude control for a space robot based on adaptive multivariable disturbance compensation

Jinyuan Wei, Jianping Yuan

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

This work investigates a smooth finite-time coordinated attitude control scheme for the space robot with strong system nonlinearities, multiple input torques, coupled uncertainties and unknown disturbances. This paper reformulates the dynamic equations of a space robot by taking reaction wheels into account. An adaptive multivariable generalized super-twisting algorithm based on sliding mode disturbance observer is introduced to estimate the lumped disturbances with unknown bounds in finite time. Utilizing the estimation as feedforward compensation, a multivariable homogenous smooth twisting algorithm based on coordinated controller is designed to ensure the finite-time attitude tracking and generate a smooth input signal. Simulations are provided to demonstrate the effectiveness and robustness of the proposed method.

源语言英语
主期刊名Dynamics and Control of Space Systems
编辑Jeng-Shing Chern, Ya-Zhong Luo, Xiao-Qian Chen, Lei Chen
出版商Univelt Inc.
965-980
页数16
ISBN(印刷版)9780877036531
出版状态已出版 - 2018
活动4th IAA Conference on Dynamics and Control of Space Systems, DYCOSS 2018 - Changsha, 中国
期限: 21 5月 201823 5月 2018

出版系列

姓名Advances in the Astronautical Sciences
165
ISSN(印刷版)0065-3438

会议

会议4th IAA Conference on Dynamics and Control of Space Systems, DYCOSS 2018
国家/地区中国
Changsha
时期21/05/1823/05/18

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