|Table of Contents|

Nonsingular terminal sliding mode control for approach to non-cooperative target

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[ISSN:1007-449X/CN:23-1 408/TM]

Issue:
2016年06
Page:
109-116
Research Field:
Publishing date:

Info

Title:
Nonsingular terminal sliding mode control for approach to non-cooperative target

Author(s):
LIU Hai-long SHI Xiao-ping
( Control and Simulation Center,Harbin Institute of Technology,Harbin 150001,China)
Keywords:
non-cooperative target relative motion output feedback nonsingular terminal sliding mode extended state observer
PACS:
V 448. 2
DOI:
10. 15938 / j. emc. 2016. 06. 014
Abstract:
The problem of final approach to a non-cooperative tumbling target was researched. The rela-tive orbit and attitude dynamics model with arbitrary eccentrics was established. Then,the system’s ex-ternal disturbance,model uncertainty and the system nonlinear term were expressed as total disturbance. Based on the theory of extended state observer ( ESO) ,ESO was designed to estimate the total disturb-ance. Furthermore,by applying the nonsingular terminal sliding mode control method,the nonsingular terminal sliding mode control law was designed,which just needs the relative position and attitude meas-urement information. The stability of the control law was demonstrated via a Lyapunov analysis. The de-signed controller is model independent,which overcomes the problem of unknown dynamics parameters and can track the desired trajectory in finite time. The numerical simulation shows the effectiveness of the controller.

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Last Update: 2016-08-20