0
Research Papers

# Finite-Time Disturbance Observer Design and Attitude Tracking Control of a Rigid Spacecraft

[+] Author and Article Information
Qixun Lan

School of Automation,
Southeast University,
Nanjing, Jiangsu 210096, China;
School of Mathematics and Physics,
Henan University of Urban Construction,
Pingdingshan, Henan 467036, China
e-mail: q.lan@hncj.edu.cn

Chunjiang Qian

Department of Electrical and
Computer Engineering,
The University of Texas at San Antonio,
San Antonio, TX 78249
e-mail: chunjiang.qian@utsa.edu

Shihua Li

School of Automation,
Southeast University,
Nanjing, Jiangsu 210096, China
e-mail: lsh@seu.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 6, 2015; final manuscript received December 7, 2016; published online April 13, 2017. Assoc. Editor: Mazen Farhood.

J. Dyn. Sys., Meas., Control 139(6), 061010 (Apr 13, 2017) (8 pages) Paper No: DS-15-1617; doi: 10.1115/1.4035457 History: Received December 06, 2015; Revised December 07, 2016

## Abstract

This paper considers the problem of finite-time disturbance observer (FTDO) design and the problem of FTDO based finite-time control for systems subject to nonvanishing disturbances. First of all, based on the homogeneous systems theory and saturation technique, a continuous FTDO design approach is proposed. Then, by using the proposed FTDO design approach, a FTDO is constructed to estimate the disturbances that exist in a rigid spacecraft system. Furthermore, based on a baseline finite-time control law and a feedforward compensation term produced by the FTDO, a composite controller is constructed for the rigid spacecraft system. It is shown that the proposed composite controller will render the rigid spacecraft track the desired attitude trajectory in a finite-time. Simulation results are included to demonstrate the effectiveness of the proposed control approach.

<>
Your Session has timed out. Please sign back in to continue.

## References

Chen, Z. , and Huang, J. , 2009, “ Attitude Tracking and Disturbance Rejection of Rigid Spacecraft by Adaptive Control,” IEEE Trans. Autom. Control, 54(3), pp. 600–635.
Du, H. , Li, S. , and Qian, C. , 2011, “ Finite-Time Attitude Tracking Control of Spacecraft With Application to Attitude Synchronization,” IEEE Trans. Autom. Control, 56(11), pp. 2711–2717.
Hu, Q. , and Jiang, B. , 2014, “ Robust Saturated Finite-Time Output Feedback Attitude Stabilization for Rigid Spacecraft,” J. Guid. Control Dyn., 37(6), pp. 1914–1929.
Feng, Y. , Yu, X. , and Man, Z. , 2002, “ Non-Singular Terminal Sliding Mode Control of Rigid Manipulators,” Automatica, 38(12), pp. 2159–2167.
Chen, W. , 2004, “ Disturbance Observer-Based Control for Nonlinear Systems,” IEEE/ASME Trans. Mechatronics, 9(4), pp. 706–710.
Umeno, T. , and Hori, Y. , 1991, “ Robust Speed Control of DC Servomotors Using Modern Two Degrees-of-Freedom Controller Design,” IEEE Trans. Ind. Electron., 38(5), pp. 363–368.
Ohishi, K. , Nakao, M. , Ohnishi, K. , and Miyachi, K. , 1987, “ Microprocessor-Controller DC Motor for Load-Insensive Position Servo System,” IEEE Trans. Ind. Electron., 34(1), pp. 44–49.
Han, J. , 2009, “ From PID to Active Disturbance Rejection Control,” IEEE Trans. Ind. Electron., 56(3), pp. 900–906.
Li, S. , Yang, J. , Chen, W. , and Chen, X. , 2014, Disturbance Observer-Based Control Methods and Applications, CRC Press, Boca Raton, FL.
Yang, J. , Chen, W. , and Li, S. , 2011, “ Non-Linear Disturbance Observer-Based Robust Control for Systems With Mismatched Disturbances/Uncertainties,” IET Control Theory Appl., 5(18), pp. 2053–2062.
She, J. , Xin, X. , and Pan, Y. , 2011, “ Equivalent-Input-Disturbance Approach–Analysis and Application to Disturbance Rejection in Dual-Stage Feed Drive Control Systems,” IEEE/ASME Trans. Mechatronics, 16(2), pp. 330–340.
Chen, W. , 2003, “ Harmonic Disturbance Observer for Nonlinear Systems,” ASME J. Dyn. Syst. Meas. Control, 125(1), pp. 114–117.
Guo, L. , and Chen, W. , 2005, “ Disturbance Attenuation and Rejection for Systems With Nonlinearity via DOBC Approach,” Int. J. Robust Nonlinear Control, 15(3), pp. 109–125.
Levant, A. , 2003, “ Higher-Order Sliding Modes, Differentiation and Output-Feedback Control,” Int. J. Control, 76(9), pp. 924–941.
Wang, X. , Chen, Z. , and Yang, G. , 2007, “ Finite-Time-Convergent Differentiator Based on Singular Perturbation Technique,” IEEE Trans. Autom. Control, 52(9), pp. 1731–1737.
Guo, B. , and Zhao, Z. , 2013, “ Weak Convergence of Nonlinear High-Gain Tracking Differentiator,” IEEE Trans. Autom. Control, 58(4), pp. 1074–1080.
Li, S. , Yang, J. , Chen, W. , and Chen, X. , 2012, “ Generalized Extended State Observer-Based Control for Systems With Mismatched Uncertainties,” IEEE Trans. Ind. Electron., 59(12), pp. 4792–4802.
Huang, Y. , and Xue, W. , 2014, “ Active Disturbance Rejection Control: Methodology and Theoretical Analysis,” ISA Trans., 53(4), pp. 963–976. [PubMed]
Zhao, S. , and Gao, Z. , 2014, “ Modified Active Disturbance Rejection Control for Time Delay Systems,” ISA Trans., 53(4), pp. 882–888. [PubMed]
Lan, Q. , Li, S. , Khoo, S. , and Shi, P. , 2015, “ Global Finite-Time Stabilisation for a Class of Stochastic Nonlinear Systems by Output Feedback,” Int. J. Control, 88(3), pp. 494–506.
Bhat, S. P. , and Bernstein, D. S. , 1998, “ Continuous Finite-Time Stabilization of the Translational and Rotational Double Integrators,” IEEE Trans. Autom. Control, 43(5), pp. 678–682.
Ding, S. , Levant, A. , and Li, S. , 2016, “ Simple Homogeneous Sliding-Mode Controller,” Automatica, 67(5), pp. 22–32.
Wang, N. , Qian, C. , Sun, J. , and Liu, Y. , 2016, “ Adaptive Robust Finite-Time Trajectory Tracking Control of Fully Actuated Marine Surface Vehicles,” IEEE Trans. Control Syst. Technol., 24(4), pp. 1454–1462.
Sun, Z. , Xue, L. , and Zhang, K. , 2015, “ A New Approach to Finite-Time Adaptive Stabilization of High-Order Uncertain Nonlinear System,” Automatica, 58(8), pp. 60–66.
Shtessel, Y. , Shkolnikov, I. , and Levant, A. , 2007, “ Smooth Second-Order Sliding Modes: Missile Guidance Application,” Automatica, 43(8), pp. 1470–1476.
Huang, X. , Lin, W. , and Yang, B. , 2005, “ Global Finite-Time Stabilization of a Class of Uncertain Nonlinear Systems,” Automatica, 41(5), pp. 881–888.
Shen, Y. , and Huang, Y. , 2009, “ Uniformly Observable and Globally Lipschitzian Nonlinear Systems Admit Global Finite-Time Observers,” IEEE Trans. Autom. Control, 54(11), pp. 2621–2625.
Qian, C. , and Gong, Q. , 2013, “ Global Output Feedback Stabilization of a Class of Nonlinear Systems With Multiple Output,” ASME J. Dyn. Syst. Meas. Control, 135(4), p. 044502.
Hong, Y. , Jiang, Z. , and Feng, G. , 2010, “ Finite-Time Input-to-State Stability and Applications to Finite-Time Control Design,” SIAM J. Control Optim., 48(7), pp. 4395–4418.
Ding, S. , Wang, J. , and Zheng, W. , 2015, “ Second-Order Sliding Mode Control for Nonlinear Uncertain Systems Bounded by Positive Functions,” IEEE Trans. Ind. Electron., 62(9), pp. 5899–5909.
Qian, C. , 2005, “ A Homogeneous Domination Approach for Global Output Feedback Stabilization of a Class of Nonlinear Systems,” American Control Conference, pp. 4708–4715.
Qian, C. , and Lin, W. , 2001, “ A Continuous Feedback Approach to Global Strong Stabilization of Nonlinear Systems,” IEEE Trans. Autom. Control, 46(7), pp. 1061–1079.
Lei, H. , Wei, J. , and Lin, W. , 2007, “ A Global Observer for Autonomous Systems With Bounded Trajectories,” Int. J. Robust Nonlinear Control, 17(12), pp. 1088–1105.
Lan, Q. , Li, S. , Yang, J. , and Sun, H. , 2015, “ Finite-Time Control for 6DOF Spacecraft Formation Flying System,” J. Aerosp. Eng., 28(5), p. 040140137.
Shuster, M. D. , 1993, “ A Survey of Attitude Representations,” J. Astronaut. Sci., 41(4), pp. 439–517.
Li, J. , Qian, C. , and Frye, M. , 2009, “ A Dual-Observer Design for Global Output Feedback Stabilization of Nonlinear Systems With Low-Order and High-Order Nonlinearities,” Int. J. Robust Nonlinear Control, 19(15), pp. 1697–1720.
Menard, T. , Moulay, E. , and Perruquetii, W. , 2010, “ A Global High-Gain Finite-Time Observer,” IEEE Trans. Autom. Control, 55(6), pp. 1500–1506.
Xing, G. Q. , and Parvez, S. A. , 2001, “ Nonlinear Attitude State Tracking Control for Spacecraft,” J. Guid. Control Dyn., 24(3), pp. 624–626.

## Figures

Fig. 1

Response curves of disturbance d,d˙ and d¨ (the solid line) and their estimations d̂,d̂˙ and d̂¨ (the dotted line)

Fig. 4

The real values (the solid line) and estimated values (the dash line) of disturbances

Fig. 5

Response curves of control signals of FTC (24) (the dash line) and CFTC (37) (the solid line)

Fig. 2

Response curves of attitude errors under FTC (24) (the dash line) and CFTC (37) (the solid line)

Fig. 3

Response curves of angular velocity errors under FTC (24) (the dash line) and CFTC (37) (the solid line)

## Discussions

Some tools below are only available to our subscribers or users with an online account.

### Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related Proceedings Articles
Related eBook Content
Topic Collections