ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Adaptive sliding mode controller design for on-orbit servicing to uncontrollable spacecraft
Received date: 2014-05-05
Revised date: 2014-08-14
Online published: 2014-08-15
Supported by
National Natural Science Foundation of China (61104026)
A relative position and attitude coupled adaptive controller is designed on the basis of second-order sliding mode control algorithm. It is proposed for on-orbit servicing on the free tumbling uncontrollable target spacecraft. Considering the coupled effect of relative rotation on relative translation, a relative position and attitude coupled dynamic model is derived for two docking ports on different spacecraft. Based on this coupled relative motion model, an adaptive super twisting controller is proposed to attenuate the chattering phenomenon caused by bounded perturbation with known upper bound. It makes the closed-loop system converge to the equilibrium point in finite time. Under the condition of limited disturbances, the closed-loop system is proved to be steady by Lyapunov method and the supremum of convergence time is estimated. By comparison with the super twisting method, numerical simulations are performed to validate strong robustness of the designed adaptive second-order sliding mode controller for parameter uncertainty and linearly growing bounded disturbances. The control accuracy is high enough for the requirement of on-orbit servicing mission.
CHEN Binglong , GENG Yunhai . Adaptive sliding mode controller design for on-orbit servicing to uncontrollable spacecraft[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015 , 36(5) : 1639 -1649 . DOI: 10.7527/S1000-6893.2014.0185
[1] Long A M, Richards M G, Hastings D E. On-orbit servicing: a new value proposition for satellite design and operation[J]. Journal of Spacecraft and Rockets, 2007, 44(4): 964-976.
[2] Komanduri A S, Bindel D, Da F M. Guidance and control strategies for a spacecraft to rendezvous with a non-cooperative spacecraft[C]//Proceeding of the 61st International Astronautical Congress. Paris, France: International Astronautical Federation, 2010: 5982-5991.
[3] Segal S, Gurfil P. Effect of kinematic rotation-translation coupling on relative spacecraft translational dynamics[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(3): 1045-1050.
[4] Utkin V I, Poznyak A S. Adaptive sliding mode control with application to super-twist algorithm: equivalent control method[J]. Automatica, 2013, 49(1): 39-47.
[5] Shtessel Y, Taleb M, Plestan F. A novel adaptive-gain supertwisting sliding mode controller: methodology and application[J]. Automatica, 2012, 48(5): 759-769.
[6] Jia J, Yao Y, Ma K M. Continuous optimal terminal proximity guidance algorithm for autonomous rendezvous and docking[J]. Information Technology Journal, 2013, 12(5): 1011-1017.
[7] Gao X Y, Teo K L, Duan G R. An optimal control approach to robust control of nonlinear spacecraft rendezvous system with θ-D technique[J]. International Journal of Innovative Computing, Information and Control, 2013, 9(5): 2099-2110.
[8] Utkin V. About second order sliding mode control, relative degree, finite-time convergence and disturbance rejection[C]//Proceeding of 2010 11th International Workshop on Variable Structure Systems. Piscataway, NJ: IEEE Press, 2010: 528-533.
[9] Wilfrid P, Jean P B. Sliding mode control in engineering[M]. New York: Marcel Dekker, 2002: 51-99.
[10] Gonzalez T, Moreno J A, Fridman L. Variable gain super-twisting sliding mode control[J]. IEEE Transactions on Automatic Control, 2012, 57(8): 2100-2105.
[11] Levant A. Sliding order and sliding accuracy in sliding mode control[J]. International Journal of Control, 1993, 58(6): 1247-1263.
[12] Levant A. Principles of 2-sliding mode design[J]. Automatica, 2007, 43(4): 576-586.
[13] Pukdeboon C. Second-order sliding mode controllers for spacecraft relative translation[J]. Applied Mathematical Sciences, 2012, 6(100): 4965-4979.
[14] Pan H, Kapila V. Adaptive nonlinear control for spacecraft formation flying with coupled translational and attitude dynamics[C]//Proceeding of the 40th IEEE Conference on Decision and Control. Piscataway, NJ: IEEE Press, 2001: 2057-2062.
[15] Segal S, Gurfil P. Shape-generalized modeling of relative spacecraft translation, AIAA-2009-6093[R]. Reston: AIAA, 2009.
[16] Moreno J A. A linear framework for the robust stability analysis of a generalized super-twisting algorithm[C]//Proceeding of the 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control. Piscataway, NJ: IEEE Press, 2009: 1-6.
[17] Lu W, Geng Y H, Chen X Q, et al. Coupled control of relative position and attitude for on-orbit servicing spacecraft with respect to target[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(5): 857-865 (in Chinese). 卢伟, 耿云海, 陈雪芹, 等. 在轨服务航天器对目标的相对位置和姿态耦合控制[J]. 航空学报, 2011, 32(5): 857-865.
/
| 〈 |
|
〉 |
CJA