Chattering Free Distributed Consensus Control for Attitude Tracking of Spacecraft Formation System with Unmeasurable Ang
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Chattering Free Distributed Consensus Control for Attitude Tracking of Spacecraft Formation System with Unmeasurable Angular Velocity Miao Xu, Yiming Fang*, Jianxiong Li, and Xiaodong Zhao Abstract: In this paper, the attitude tracking control of spacecraft formation is studied when the velocities of spacecrafts are unmeasurable. Firstly, a Finite-Time Extended State Observer (FTESO) is constructed to estimate the unmeasured angular velocity and compensate the external disturbance for each spacecraft. Secondly, a chattering free distributed consensus controller which did not require inversion of Laplacian matrix is proposed based on FTESO and Integral Nonsingular Terminal Sliding Mode (INTSM). It is proved that the proposed consensus controller can realize finite-time attitude tracking control of spacecraft by the Lyapunov stability theory. Finally, a simulation example with one leader and four followers is given. The simulation results show that the proposed consensus controller can eliminate system chattering, and provide fast finite-time convergence performance and high precision tracking. Keywords: Attitude tracking, finite time extended state observer, spacecraft formation system, super-twisting algorithm.
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INTRODUCTION
In recent years, Spacecraft Formation Flying (SFF) has received more and more attention owing to the important applications in space missions such as Earth monitoring, geodesy, deep space imaging and exploration, and in-orbit servicing and maintenance of spacecraft [1–3]. Spacecraft formation flying is a concept of that multiple spacecrafts cooperate in a group to accomplish a mission objective. Comparing with a large and expensive spacecraft, a group of small and affordable spacecrafts have the advantages of higher flexibility, stronger robustness and lower cost [4,5]. Attitude coordinated control is one of the most important problems in spacecraft formation flying. Various attitude coordinated control methods have been studied, such as robust control [6], Takagi-Sugeno (T-S) fuzzy modeling method [7], and sliding mode control [8]. Sliding mode control is a special type of nonlinear control. Since the sliding mode can be designed independently of parameters and disturbances, the sliding mode control has the advantages of fast response, insensitivity to parameter changes and disturbances, and simple physical implementation. However, for the traditional sliding
control, when the state trajectory reaches the sliding surface, it is difficult to strictly slide along the sliding surface toward the equilibrium point. Instead, it moves back and forth on both sides of the sliding surface, producing chattering that affect system performance. The most common method is to use a similar continuous function to replace the symbolic function, but the cost is to reduce the robustness of the system. In recent years, the boundary layer method [9, 10] and high order sliding mode control method [11] to deal with chattering are proposed. The state
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