Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations
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ORIGINAL PAPER
Robust adaptive finite-time attitude tracking control of a 3D pendulum with external disturbance: numerical simulations and hardware experiments Qijia Yao
Received: 16 February 2020 / Accepted: 31 August 2020 Ó Springer Nature B.V. 2020
Abstract The three-degree-of-freedom (3D) pendulum has been used as a benchmark in the field of nonlinear dynamics and control. Nonetheless, the attitude control of 3D pendulum is still an open problem presently since some issues remain not well addressed. In this paper, a robust adaptive finite-time attitude control method is proposed for the attitude tracking control of a 3D pendulum with external disturbance. First, a baseline finite-time attitude controller is designed based on the adding a power integrator technique. Then, a finite-time disturbance observer is designed to exactly estimate the unknown external disturbance. Finally, a robust adaptive finitetime attitude controller is constructed by integrating the baseline finite-time attitude controller with the finite-time disturbance observer. The proposed robust adaptive finite-time attitude controller can guarantee the global finite-time stability of the whole closedloop system even in the presence of external disturbance owing to the feedforward dynamic compensation. Numerical simulations and hardware experiments are both performed to illustrate the effectiveness and superiority of the proposed control method.
Q. Yao (&) School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China e-mail: [email protected]
Keywords 3D pendulum Attitude tracking control Finite-time control Adding a power integrator technique Finite-time disturbance observer Robust adaptive control
1 Introduction During the past few decades, the pendulum model has become one of the most popular benchmarks in the control community, which is extensively utilized to verify the emerging control technologies. The most common rigid pendulum consists of a mass particle attached to one end of a massless and rigid link, and the other end of the link is fixed to a frictionless pivot that provides a rotational joint for the link and mass particle. If the link and mass particle are limited to move within a specific plane, the system is a onedegree-of-freedom (1D) planar pendulum. If the link and mass particle are not limited, the system is a 2D spherical pendulum. The control problems for planar and spherical pendulum models have been systemically investigated, see, e.g., [1–12] and the references therein. Besides, some extensions of simple pendulum models are developed. These mainly include various elastic pendulum models and multi-body pendulum models, such as the pendulum on a cart, the inertia wheel pendulum, the Furuta pendulum, the Acrobot,
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the Pendubot, and the pendulum consisting of multiple coupled bodies, to name just a few [13–30]. Apart from the above pendulum models, the 3D pendulum has been also widely used as a benchmark in the field of n
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