Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking
This paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external dis...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/8887699 |
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| _version_ | 1832560115302006784 |
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| author | Jinghui Zhang Guoqiang Zeng Shifeng Zhang |
| author_facet | Jinghui Zhang Guoqiang Zeng Shifeng Zhang |
| author_sort | Jinghui Zhang |
| collection | DOAJ |
| description | This paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external disturbances, and inherent strong nonlinearity and coupling. An improved far-field model of electromagnetic force which is much more accurate than the widely used far-field model is proposed to enable the model parameters to be on-line self-adjusting. Then, the relationship between magnetic moment allocation and energy consumption is derived, and the optimal direction of the magnetic moment vector is obtained. Based on the proposed improved far-field model and the research results of magnetic moment allocation law, a fast-nonsingular terminal mode controller driven by a disturbance observer is designed in the presence of model uncertainties and external disturbances. The proposed control method is guaranteed to be chattering-free and to possess superior properties such as finite-time convergence, high-precision tracking, and strong robustness. Two simulation scenarios are conducted to illustrate the necessity of modifying the far-field model and the effectiveness of the proposed control scheme. The simulation results indicate the realization of electromagnetic soft docking and validate the merits of the proposed control scheme. In the end of this paper, some conclusions are drawn. |
| format | Article |
| id | doaj-art-6e006945d9d944fc9cce2ad55ea4697b |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-6e006945d9d944fc9cce2ad55ea4697b2025-02-03T01:28:24ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742020-01-01202010.1155/2020/88876998887699Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic DockingJinghui Zhang0Guoqiang Zeng1Shifeng Zhang2College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, ChinaSchool of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430072, ChinaCollege of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, ChinaThis paper presents a novel nonlinear sliding mode control scheme that combines on-line model modification, a nonlinear sliding mode controller, and a disturbance observer to solve the essential problems in spacecraft electromagnetic docking control, such as model uncertainties, unknown external disturbances, and inherent strong nonlinearity and coupling. An improved far-field model of electromagnetic force which is much more accurate than the widely used far-field model is proposed to enable the model parameters to be on-line self-adjusting. Then, the relationship between magnetic moment allocation and energy consumption is derived, and the optimal direction of the magnetic moment vector is obtained. Based on the proposed improved far-field model and the research results of magnetic moment allocation law, a fast-nonsingular terminal mode controller driven by a disturbance observer is designed in the presence of model uncertainties and external disturbances. The proposed control method is guaranteed to be chattering-free and to possess superior properties such as finite-time convergence, high-precision tracking, and strong robustness. Two simulation scenarios are conducted to illustrate the necessity of modifying the far-field model and the effectiveness of the proposed control scheme. The simulation results indicate the realization of electromagnetic soft docking and validate the merits of the proposed control scheme. In the end of this paper, some conclusions are drawn.http://dx.doi.org/10.1155/2020/8887699 |
| spellingShingle | Jinghui Zhang Guoqiang Zeng Shifeng Zhang Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking International Journal of Aerospace Engineering |
| title | Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking |
| title_full | Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking |
| title_fullStr | Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking |
| title_full_unstemmed | Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking |
| title_short | Disturbance Observer-Based Nonsingular Terminal Sliding Mode Control for Spacecraft Electromagnetic Docking |
| title_sort | disturbance observer based nonsingular terminal sliding mode control for spacecraft electromagnetic docking |
| url | http://dx.doi.org/10.1155/2020/8887699 |
| work_keys_str_mv | AT jinghuizhang disturbanceobserverbasednonsingularterminalslidingmodecontrolforspacecraftelectromagneticdocking AT guoqiangzeng disturbanceobserverbasednonsingularterminalslidingmodecontrolforspacecraftelectromagneticdocking AT shifengzhang disturbanceobserverbasednonsingularterminalslidingmodecontrolforspacecraftelectromagneticdocking |