This paper investigates the attitude control of rigid spacecraft with uncertainties and actuator faults. An immersion and invariance sliding mode control with time-delay estimation (IISMCTDE) is proposed to cope with uncertainties, disturbances, and actuator faults. First, time-delay estimation is utilized to reconstruct the total disturbances including uncertainties, disturbances, and actuator faults. Then, based on the time-delay estimation, an immersion and invariance sliding mode control (IISMC) scheme is developed to achieve accurate attitude tracking from the reconstructed knowledge. The proposed IISMCTDE can not only achieve finite-time convergence but also be simple and easy to operate. Simulations are provided to demonstrate the effectiveness of the proposed approach.
AdıgüzelFYalçınY (2021) Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system. Transactions of the Institute of Measurement and Control43(5): 1068–1076.
2.
AstolfiA (2008) Nonlinear and Adaptive Control with Applications. London: Springer.
3.
EshghiSVaratharajooR (2018) Nonsingular terminal sliding mode control technique for attitude tracking problem of a small satellite with combined energy and attitude control system (CEACS). Aerospace Science and Technology76: 14–26.
4.
Flores-AbadAMaOPhamK, et al. (2014) A review of space robotics technologies for on orbit servicing. Progress in Aerospace Sciences68: 1–26.
5.
FuDZhaoXYuanH (2022) Nonsingular terminal sliding mode control based on adaptive time delay estimation for permanent magnet linear synchronous motor. International Journal of Control, Automation and Systems20(1): 24–34.
6.
GaoCSLiJQFanYD, et al. (2018) Immersion and invariance-based control of novel moving-mass flight vehicles. Aerospace Science and Technology74: 63–71.
7.
GuiHCJinLXuSJ (2015) Simple finite-time attitude stabilization laws for rigid spacecraft with bounded inputs. Aerospace Science and Technology42: 176–186.
8.
GuoYZhouJLiuY (2019) Distributed RISE control for spacecraft formation reconfiguration with collision avoidance. Journal of the Franklin Institute356(10): 5332–5352.
9.
HuQLShaoXDGuoL (2018) Adaptive fault-tolerant attitude tracking control of spacecraft with prescribed performance. IEEE-ASME Transactions on Mechatronics23: 331–341.
10.
HuangYWuDYinZ, et al. (2021) Design of UDE-based dynamic surface control for dynamic positioning of vessels with complex disturbances and input constraints. Ocean Engineering220: 108487.
11.
JiangBYHuQLFriswellMI (2016) Fixed-time attitude control for rigid spacecraft with actuator saturation and faults. IEEE Transactions on Control Systems Technology24: 1892–1898.
12.
KaliYSaadMBenjellounK, et al. (2018) Super-twisting algorithm with time delay estimation for uncertain robot manipulators. Nonlinear Dynamics93: 557–569.
13.
KangSWuHYangX, et al. (2020) Model-free robust finite-time force tracking control for piezoelectric actuators using time-delay estimation with adaptive fuzzy compensator. Transactions of the Institute of Measurement and Control42(3): 351–364.
14.
KimJChangPHJinM (2017) Fuzzy PID controller design using time-delay estimation. Transactions of the Institute of Measurement and Control39(9): 1329–1338.
15.
LangXDamarenCJCaoX (2019) Passivity-based attitude control with input quantization. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering233(4): 1546–1551.
16.
LeeKWSinghSN (2020) Quaternion-based adaptive attitude control of asteroid-orbiting spacecraft via immersion and invariance. Acta Astronautica167: 164–180.
17.
LiJChenXNiuK, et al. (2022) Finite-time tracking control based on immersion and invariance with dynamically scaling factor for agile missiles. Aerospace9(11): 674.
18.
LiuSLiuZLiY, et al. (2022) Nonlinear disturbance observer-based direct joint control for manipulation of a flexible payload with output constraints. International Journal of Control2022: 1–12.
19.
LuKFXiaYQ (2013) Adaptive attitude tracking control for rigid spacecraft with finite-time convergence. Automatica49: 3591–3599.
20.
LuKFXiaYQ (2014) Finite-time attitude control for rigid spacecraft-based on adaptive super-twisting algorithm. IET Control Theory and Applications8: 1465–1477.
21.
LuoJJYinZYWeiCS, et al. (2018) Low-complexity prescribed performance control for spacecraft attitude stabilization and tracking. Aerospace Science and Technology74: 173–183.
22.
MannarinoAMantegazzaP (2014) Multifidelity control of aeroelastic systems: An immersion and invariance approach. Journal of Guidance Control and Dynamics37: 1568–1582.
23.
MousaviMSDavariSANekoukarV, et al. (2022) Predictive torque control of induction motor based on a robust integral sliding mode observer. IEEE Transactions on Industrial Electronics70(3): 2339–2350.
24.
NadafiRKabganianM (2022) Robust backstepping attitude tracking control of an underactuated spacecraft with saturation and time-variant perturbations. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering236(3): 502–516.
25.
ObukhovVAKirillovVAPetukhovVG, et al. (2022) Control of a service satellite during its mission on space debris removal from orbits with high inclination by implementation of an ion beam method. Acta Astronautica194: 390–400.
26.
PolyakovAEfimovDPerruquettiW (2015) Finite-time and fixed-time stabilization: Implicit Lyapunov function approach. Automatica51: 332–340.
27.
PukdeboonC (2013) Finite-time second-order sliding mode controllers for spacecraft attitude tracking. Mathematical Problems in Engineering2013: 930269.
28.
PukdeboonCSiricharuanunP (2014) Nonsingular terminal sliding mode based finite-time control for spacecraft attitude tracking. International Journal of Control Automation and Systems12: 530–540.
29.
ShenQYueCGohCH, et al. (2019) Active fault-tolerant control system design for spacecraft attitude maneuvers with actuator saturation and faults. IEEE Transactions on Industrial Electronics66: 3763–3772.
30.
SmaeilzadehSMGolestaniM (2019) A finite-time adaptive robust control for a spacecraft attitude control considering actuator fault and saturation with reduced steady-state error. Transactions of the Institute of Measurement and Control41(4): 1002–1009.
31.
SongZKLiHXSunKB (2014) Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique. ISA Transactions53: 117–124.
32.
SuYZhengC (2020) Single saturated PD control for asymptotic attitude stabilisation of spacecraft. IET Control Theory & Applications14(19): 3338–3343.
33.
TaoJZhangTLiuQ (2021) Novel finite-time adaptive neural control of flexible spacecraft with actuator constraints and prescribed attitude tracking performance. Acta Astronautica179: 646–658.
34.
TiwariMPrazenicaRHendersonT (2023) Direct adaptive control of spacecraft near asteroids. Acta Astronautica202: 197–213.
35.
VanMGeSSRenH (2017) Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control. IEEE Transactions on Cybernetics47: 1681–1693.
36.
WaswaPMBElliotMHoffmanJA (2013) Spacecraft Design-for-Demise implementation strategy & decision-making methodology for low earth orbit missions. Advances in Space Research51: 1627–1637.
37.
WildeMChuaZKFleischnerA (2014) Effects of multivantage point systems on the teleoperation of spacecraft docking. IEEE Transactions on Human-Machine Systems44: 200–210.
38.
XieXShengTHeL (2021) Distributed event-triggered attitude consensus control for spacecraft formation flying with unknown disturbances and uncertainties. IEEE Transactions on Aerospace and Electronic Systems58(3): 1721–1732.
39.
XuY (2021) Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling. Transactions of the Institute of Measurement and Control43(6): 1298–1309.
40.
YangXYaoJDengW (2021) Output feedback adaptive super-twisting sliding mode control of hydraulic systems with disturbance compensation. ISA Transactions109: 175–185.
41.
YaoQ (2021) Robust adaptive iterative learning control for high-precision attitude tracking of spacecraft. Journal of Aerospace Engineering34(1): 04020108.
42.
YuXGuoJZhangJ (2022) Time delay estimation-based reactionless augmented adaptive sliding mode control of a space manipulator’s pregrasping a target. Robotica40(9): 3136–3156.
43.
ZhangCXWangJHZhangDX, et al. (2018) Learning observer based and event-triggered control to spacecraft against actuator faults. Aerospace Science and Technology78: 522–530.
44.
ZhangHYeDXiaoY, et al. (2022) Adaptive control on SE (3) for spacecraft pose tracking with harmonic disturbance and input saturation. IEEE Transactions on Aerospace and Electronic Systems58(5): 4578–4594.
45.
ZhengZSongSM (2014) Autonomous attitude coordinated control for spacecraft formation with input constraint, model uncertainties, and external disturbances. Chinese Journal of Aeronautics27: 602–612.
46.
ZhouNXiaYQWangML, et al. (2015) Finite-time attitude control of multiple rigid spacecraft using terminal sliding mode. International Journal of Robust and Nonlinear Control25: 1862–1876.
47.
ZongQZhangXShaoS, et al. (2019) Disturbance observer-based fault-tolerant attitude tracking control for rigid spacecraft with finite-time convergence. Proceedings of the Institution of Mechanical Engineers Part G: Journal of Aerospace Engineering233(2): 616–628.
48.
ZouAMKumarKD (2011) Adaptive fuzzy fault-tolerant attitude control of spacecraft. Control Engineering Practice19: 10–21.
49.
ZouAMKumarKDHouZG, et al. (2011) Finite-time attitude tracking control for spacecraft using terminal sliding mode and Chebyshev neural network. IEEE Transactions on Systems Man and Cybernetics Part B-Cybernetics41: 950–963.
