This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractiona...This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.展开更多
For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage- ment geometry is studied. Firstly...For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage- ment geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceler- ation as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target accel- eration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are pre- sented by numerical simulations. Although the designed guidance laws are developed for the con- stant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.展开更多
This paper investigates two finite-time controllers for attitude control of spacecraft based on rotation matrix by an adaptive backstepping method. Rotation matrix can overcome the draw- backs of unwinding which makes...This paper investigates two finite-time controllers for attitude control of spacecraft based on rotation matrix by an adaptive backstepping method. Rotation matrix can overcome the draw- backs of unwinding which makes a spacecraft perform a large-angle maneuver when a small-angle maneuver in the opposite rotational direction is sufficient to achieve the objective, With the use of adaptive control, the first robust finite-time controller is continuous without a chattering phenom- enon. The second robust finite-time controller can compensate external disturbances with unknown bounds. Theoretical analysis shows that both controllers can make a spacecraft following a time-varying reference attitude signal in finite time and guarantee the stability of the overall closed-loop system. Numerical simulations are presented to demonstrate the effectiveness of the proposed control schemes.展开更多
To synchronize the attitude of a spacecraft formation flying system, three novel autonomous control schemes are proposed to deal with the issue in this paper. The first one is an ideal autonomous attitude coordinated ...To synchronize the attitude of a spacecraft formation flying system, three novel autonomous control schemes are proposed to deal with the issue in this paper. The first one is an ideal autonomous attitude coordinated controller, which is applied to address the case with certain models and no disturbance. The second one is a robust adaptive attitude coordinated controller, which aims to tackle the case with external disturbances and model uncertainties. The last one is a filtered robust adaptive attitude coordinated controller, which is used to overcome the case with input con- straint, model uncertainties, and external disturbances. The above three controllers do not need any external tracking signal and only require angular velocity and relative orientation between a spacecraft and its neighbors. Besides, the relative information is represented in the body frame of each spacecraft. The controllers are proved to be able to result in asymptotical stability almost everywhere. Numerical simulation results show that the proposed three approaches are effective for attitude coordination in a spacecraft formation flying system.展开更多
This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introducing a novel error variable as...This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introducing a novel error variable associated with rotation matrix, a decentralized attitude synchronization controller, which could obtain almost global asymptotical stability of the closed-loop system, is developed. Then, considering model uncertainties and unknown external disturbances, we propose a robust adaptive attitude synchronization controller by designing adaptive laws to estimate the unknown parameters. After that, the third controller is proposed by extending this method to the case of time-varying communication delays via Lyapunov-Krasovskii analysis. The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected directed information flow. It is shown that tracking and synchronization of an arbitrary desired attitude can be achieved when the stability condition is satisfied. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes. (C) 2016 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics. This is an open access article under the CC BY-NC-ND license.展开更多
The state estimation for relative motion with respect to non-cooperative spacecraft in ren- dezvous and docking (RVD) is a challenging problem. In this paper, a completely non-cooperative case is considered, which m...The state estimation for relative motion with respect to non-cooperative spacecraft in ren- dezvous and docking (RVD) is a challenging problem. In this paper, a completely non-cooperative case is considered, which means that both orbit elements and inertial tensor of target spacecraft are unknown. By formulating the equations of relative translational dynamics in the orbital plane of chaser spacecraft, the issue of unknown orbit elements is solved. And for the problem for unknown inertial tensor, we propose a novel robust estimator named interaction cubature Kalman filter (InCKF) to handle it. The novel filter consists of multiple concurrent CKFs interlacing with a max- imum a posteriori (MAP) estimator. The initial estimations provided by the multiple CKFs are used in a Bayesian framework to form description of posteriori probability about inertial tensor and the MAP estimator is applied to giving the optimal estimation. By exploiting special property of spherical-radial (SR) rule, a novel method with respect to approximating the likelihood probability of inertial tensor is presented. In addition, the issue about vision sensor's location inconformity with center mass of chaser spacecraft is also considered. The performance of this filter is demonstrated by the estimation problem of RVD at the final phase. And the simulation results show that the perfor- mance of InCKF is better than that of extended Kalman filter (EKF) and the estimation accuracy of oose and attitude is relatively high even in the comoletely non-coooerative case.展开更多
This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking c...This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.展开更多
文摘为平衡多目标演化算法求解不同优化问题以及求解同一优化问题时不同搜索阶段的勘探与开采能力,并考虑到减小聚类算法辅助演化算法时产生的计算开销,提出了一种基于自适应交配限制概率的自组织多目标演化算法(adaptive mating restriction probability based self-organizing multiobjective evolutionary algorithm,ASMEA).首先,ASMEA在每一代利用自组织映射(self-organizing map,SOM)算法建立了演化种群个体间的邻居关系,基于此关系有利于算子实施恰当的重组操作,并在演化算法后期产生优质解,与此同时,为了节省利用SOM建立当前种群个体之间的邻居关系时引起的计算开销,将SOM与演化算法相融合,交替地进行SOM训练与种群演化.然后,运用交配限制概率控制交配父代来源于SOM发现的邻居种群或者是整个种群,以分别加强开采和勘探.最后,根据采用不同父代来源的重组在过去一定代数产生后代个体的效用,自适应地调整算法的交配限制概率.利用ASMEA和5种具有代表性的多目标演化算法对标准测试题进行求解,求解结果表明:ASMEA在搜索质量、搜索效率以及可视化方面优于其他5种算法,从而验证了ASMEA算法对多目标优化问题具有良好的求解性能.
基金supported by the National Natural Science Foundation of China (61174037)the Science Fund for Creative Research Groups of the National Natural Science Foundation of China (Grant No. 61021002)the Natural Science Foundation of Heilongjiang Province (Grant No. F201307)
文摘This paper investigates a fractional terminal sliding mode control for flexible spacecraft attitude tracking in the presence of inertia uncertainties and external disturbances. The controller is based on the fractional calculus and nonsingular terminal sliding mode control technique,and it guarantees the convergence of attitude tracking error in finite time rather than in the asymptotic sense. With respect to the controller,a fractional order sliding surface is given,the corresponding control scheme is proposed based on Lyapunov stability theory to guarantee the sliding condition,and the finite time stability of the whole close loop system is also proven. Finally,numerical simulations are presented to illustrate the performance of the proposed scheme.
基金financial support provided by the National Natural Science Foundation of China(Nos.61174037 and 61021002)the Aeronautical Science Foundation of China(No.20140177002)
文摘For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage- ment geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceler- ation as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target accel- eration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are pre- sented by numerical simulations. Although the designed guidance laws are developed for the con- stant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.
基金the financial support provided by the National Natural Science Foundation of China (No. 61174037)the National Basic Research Program of China (973) (No. 2012CB821205, CAST20120602)the National High Technology Research and Development Program of China (863) (No. 2012AA120602)
文摘This paper investigates two finite-time controllers for attitude control of spacecraft based on rotation matrix by an adaptive backstepping method. Rotation matrix can overcome the draw- backs of unwinding which makes a spacecraft perform a large-angle maneuver when a small-angle maneuver in the opposite rotational direction is sufficient to achieve the objective, With the use of adaptive control, the first robust finite-time controller is continuous without a chattering phenom- enon. The second robust finite-time controller can compensate external disturbances with unknown bounds. Theoretical analysis shows that both controllers can make a spacecraft following a time-varying reference attitude signal in finite time and guarantee the stability of the overall closed-loop system. Numerical simulations are presented to demonstrate the effectiveness of the proposed control schemes.
基金co-supported by the National Natural Science Foundation of China (No. 61174037)the Innovation Found of Chinese Academy of Space Technology (No. CAST20120602)+1 种基金the Foundation for Creative Research Groups of the National Natural Science Foundation (No. 61021002)the National High-tech Research and Development Program of China (No. 2012AA120602)
文摘To synchronize the attitude of a spacecraft formation flying system, three novel autonomous control schemes are proposed to deal with the issue in this paper. The first one is an ideal autonomous attitude coordinated controller, which is applied to address the case with certain models and no disturbance. The second one is a robust adaptive attitude coordinated controller, which aims to tackle the case with external disturbances and model uncertainties. The last one is a filtered robust adaptive attitude coordinated controller, which is used to overcome the case with input con- straint, model uncertainties, and external disturbances. The above three controllers do not need any external tracking signal and only require angular velocity and relative orientation between a spacecraft and its neighbors. Besides, the relative information is represented in the body frame of each spacecraft. The controllers are proved to be able to result in asymptotical stability almost everywhere. Numerical simulation results show that the proposed three approaches are effective for attitude coordination in a spacecraft formation flying system.
基金supported by the National Natural Science Foundation of China (Nos. 61573115 and 61333003)
文摘This paper studies the attitude synchronization tracking control of spacecraft formation flying with a directed communication topology and presents three different controllers. By introducing a novel error variable associated with rotation matrix, a decentralized attitude synchronization controller, which could obtain almost global asymptotical stability of the closed-loop system, is developed. Then, considering model uncertainties and unknown external disturbances, we propose a robust adaptive attitude synchronization controller by designing adaptive laws to estimate the unknown parameters. After that, the third controller is proposed by extending this method to the case of time-varying communication delays via Lyapunov-Krasovskii analysis. The distinctive feature of this work is to address attitude coordinated control with model uncertainties, unknown disturbances and time-varying delays in a decentralized framework, with a strongly connected directed information flow. It is shown that tracking and synchronization of an arbitrary desired attitude can be achieved when the stability condition is satisfied. Simulation results are provided to demonstrate the effectiveness of the proposed control schemes. (C) 2016 Production and hosting by Elsevier Ltd. on behalf of Chinese Society of Aeronautics and Astronautics. This is an open access article under the CC BY-NC-ND license.
基金financial support provided by the National Natural Science Foundation of China(Nos.61174037,61573115)the National Basic Research Program of China(No.2012CB821205)
文摘The state estimation for relative motion with respect to non-cooperative spacecraft in ren- dezvous and docking (RVD) is a challenging problem. In this paper, a completely non-cooperative case is considered, which means that both orbit elements and inertial tensor of target spacecraft are unknown. By formulating the equations of relative translational dynamics in the orbital plane of chaser spacecraft, the issue of unknown orbit elements is solved. And for the problem for unknown inertial tensor, we propose a novel robust estimator named interaction cubature Kalman filter (InCKF) to handle it. The novel filter consists of multiple concurrent CKFs interlacing with a max- imum a posteriori (MAP) estimator. The initial estimations provided by the multiple CKFs are used in a Bayesian framework to form description of posteriori probability about inertial tensor and the MAP estimator is applied to giving the optimal estimation. By exploiting special property of spherical-radial (SR) rule, a novel method with respect to approximating the likelihood probability of inertial tensor is presented. In addition, the issue about vision sensor's location inconformity with center mass of chaser spacecraft is also considered. The performance of this filter is demonstrated by the estimation problem of RVD at the final phase. And the simulation results show that the perfor- mance of InCKF is better than that of extended Kalman filter (EKF) and the estimation accuracy of oose and attitude is relatively high even in the comoletely non-coooerative case.
基金supported by the National Natural Science Foundation of China under Grant No.61174037
文摘This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking controllers.The basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop system.In this case,only the external disturbance with the prior information is considered.Then,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control method.Besides,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation problem.Digital simulations are presented to verify the effectiveness of the proposed controllers.