Adaptive finite-time tracking control of 6DOF spacecraft motion with inertia parameter identification. (English) Zbl 07907002
Summary: This study deals with the problem of relative motion control with 6 degrees of freedom (6DOF) for spacecrafts without a priori knowledge of the inertia parameters. Considering the system natural couplings, the integrated rotational and translational dynamics of the spacecraft are achieved. By a series of first-order filter operations, an expression of the parameter estimation error is derived and then used for the design of an integrated finite-time tracking controller applying adaptive backstepping technique. Proven by the Lyapunov theory, the proposed controller can guarantee that the errors of trajectory tracking and parameter identification simultaneously converge to zero in finite time. Furthermore, to be applied in practice, the controller is adapted for the spacecraft subject to external disturbance and input saturation. Compared with the previous control designs, the proposed control strategy can realise inertia parameter identification together with tracking of command position and attitude in finite time, in the presence of input saturation and external disturbance. The effectiveness of the control law is finally demonstrated by numerical simulations.
© 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology
© 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons, Ltd. on behalf of The Institution of Engineering and Technology
MSC:
| 93C40 | Adaptive control/observation systems |
| 93D40 | Finite-time stability |
| 93E10 | Estimation and detection in stochastic control theory |
| 70M20 | Orbital mechanics |
Keywords:
control nonlinearities; adaptive control; space vehicles; Lyapunov methods; attitude control; parameter estimation; control system synthesis; motion control; vehicle dynamics; filtering theory; trajectory control; system natural couplings; integrated rotational dynamics; first-order filter operations; parameter estimation error; integrated finite-time tracking controller; adaptive backstepping technique; trajectory tracking; finite time; external disturbance; input saturation; control strategy; inertia parameter identification; control law; 6DOF spacecraft motion; relative motion control; adaptive finite-time tracking control; integrated translational dynamics; Lyapunov theory; command position tracking; command attitude trackingReferences:
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