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Chinese Journal of Aeronautics 2014年第3期27卷 602-612页

作者： Zheng Zhong Song Shenmin Center for control theory and guidance technology Harbin Institute of Technology

To synchronize the attitude of a spacecraft formation flying system, three novel autonomous control schemes are proposed to deal with the issue in this paper. The first one is an ideal autonomous attitude coordinated controller, which is applied to address the case with certain models and no disturbance. The second one is a robust adaptive attitude coordinated controller, which aims to tackle the case with external disturbances and model uncertainties. The last one is a filtered robust adaptive attitude coordinated controller, which is used to overcome the case with input con- straint, model uncertainties, and external disturbances. The above three controllers do not need any external tracking signal and only require angular velocity and relative orientation between a spacecraft and its neighbors. Besides, the relative information is represented in the body frame of each spacecraft. The controllers are proved to be able to result in asymptotical stability almost everywhere. Numerical simulation results show that the proposed three approaches are effective for attitude coordination in a spacecraft formation flying system.

关键词： Attitude coordinatedcontrol Backstepping Command filter Robust adaptive control Spacecraft formation flying

Prescribed time control based on the periodic delayed sliding mode surface without singularities

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Science China(Information Sciences) 2024年第7期67卷 256-270页

作者： Bin ZHOU Yi DING Kang-Kang ZHANG Guang-Ren DUAN Center for control theory and guidance technology Harbin Institute of Technology

In this paper, nonsingular prescribed-time control is studied based on periodic delayed sliding mode surfaces. Different from the existing sliding mode control, where either singularity problems may appear or the convergence time depends on the initial state, the proposed sliding mode control approaches can achieve prescribed-time convergence without singularity. The proposed nonsingular sliding mode control approaches can be applied to both second-order and high-order nonlinear systems with prescribed-time convergence. As applications of the proposed sliding mode control approaches, the control of hypersonic vehicle systems is revisited. Numerical simulations on the nonlinear model of the hypersonic vehicle system show the effectiveness of the proposed methods.

关键词： prescribed-time control smooth periodic delayed feedback sliding mode control high-order nonlinear systems hypersonic vehicle systems

Robust Chattering-Free Finite Time Attitude Tracking control with Input Saturation

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Journal of Systems Science & Complexity 2019年第6期32卷 1597-1629页

作者： CHEN Haitao SONG Shenmin Center for control theory and guidance technology Harbin Institute of Technology

This paper addresses the attitude tracking control problem of a rigid spacecraft in the presence of the modeling uncertainty,external disturbance,and saturated control input by designing two robust att计ude tracking *** basic controller is formulated using an integral sliding mode surface which is continuous and provides an asymptotic convergence rate for the closed-loop *** this case,only the external disturbance with the prior information is ***,to provide a finite time convergence rate and further improve the robustness of the control system under the unknown system uncertainty containing both the modeling uncertainty and external disturbance,a novel integral terminal sliding mode surface(ITSMS)is designed and associated w计h the continuous adaptive control ***,a command filter is utilized to deal with the immeasurability problem within the proposed ITSMS and an auxiliary system to counteract the input saturation *** simulations are presented to verify the effectiveness of the proposed controllers.

关键词： Chattering-free continuous adaptive control finite time convergence input saturation integral terminal sliding mode surface

Stabilization of linear time-varying systems with state and input constraints using convex optimization

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Journal of Systems Engineering and Electronics 2016年第3期27卷 649-655页

作者： Feng Tan Mingzhe Hou Guangren Duan Center for control theory and guidance technology Harbin Institute of Technology

The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（gain-scheduled） state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.

关键词： linear time-varying stabilization state constraints convex optimization

Adaptive finite-time backstepping control for attitude tracking of spacecraft based on rotation matrix

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Chinese Journal of Aeronautics 2014年第2期27卷 375-382页

作者： Guo Yong Song Shenmin Center for control theory and guidance technology Harbin Institute of Technology

This paper investigates two finite-time controllers for attitude control of spacecraft based on rotation matrix by an adaptive backstepping method. Rotation matrix can overcome the draw- backs of unwinding which makes a spacecraft perform a large-angle maneuver when a small-angle maneuver in the opposite rotational direction is sufficient to achieve the objective, With the use of adaptive control, the first robust finite-time controller is continuous without a chattering phenom- enon. The second robust finite-time controller can compensate external disturbances with unknown bounds. Theoretical analysis shows that both controllers can make a spacecraft following a time-varying reference attitude signal in finite time and guarantee the stability of the overall closed-loop system. Numerical simulations are presented to demonstrate the effectiveness of the proposed control schemes.

关键词： Adaptive control Attitude control Backstepping Finite-time control Robustness

Fully actuated system approach to attitude control of flexible spacecraft with nonlinear time-varying inertia

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Science China(Information Sciences) 2022年第11期65卷 148-162页

作者： Tianyi ZHAO Guang-Ren DUAN Center for control theory and guidance technology Harbin Institute of Technology

A high-order fully actuated(HOFA) system approach is proposed for the attitude control problem of a flexible spacecraft with nonlinear and time-varying inertia. Different from most existing results,the proposed method guarantees a linear time-invariant closed-loop system with arbitrarily assignable eigenvalues. Firstly, the HOFA model for the attitude system is derived from the original dynamic equations of the system by using state transformation and variable elimination. Then, by using the full-actuation characteristics of the obtained HOFA system, the nonlinearity in the system is completely canceled and a linear time-invariant system with arbitrarily assignable eigenvalues is derived. Finally, the control laws are designed for both problems of attitude stabilization and attitude maneuvering, and simulations are carried out based on practical engineering parameters, which demonstrate the effects of the proposed method.

关键词： high-order fully actuated system flexible spacecraft time-varying nonlinear systems attitude stabilization attitude maneuvering

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Parametric output regulation using observer-based PI controllers with applications in flexible spacecraft attitude control

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Science China(Information Sciences) 2021年第7期64卷 148-164页

作者： Guangren DUAN Tianyi ZHAO Center for control theory and guidance technology Harbin Institute of Technology

A parametric multiobjective design approach based on a proportional-integral(PI) controller and a full-state observer is proposed for output regulation in a multivariable linear system. First, a complete parametric form of the observer-based PI control law is established, which yields a closed-loop system with the desired eigenstructure and ensures that the regulated output asymptotically tracks a given constant signal in the presence of constant but unknown disturbances. All design degrees of freedom are preserved and characterized using a set of parameter vectors. Second, a separation principle of eigenvalue sensitivities is proven, and based on this result, the parameters of the closed-loop system are comprehensively optimized to reduce the eigenvalue sensitivity and the control gain, and also to enhance the tolerance to time-varying disturbances. Finally, the proposed method is applied to attitude control of a flexible spacecraft. Moreover,numerical simulations based on practical engineering parameters are performed to verify the superiority of the proposed method over traditional proportional-integral-derivative(PID) control methods.

关键词： parametric control system design multiobjective design observer-based control separation principle PI regulator constant signal tracking disturbance decoupling and attenuation

Reduced-order Kalman filtering for state constrained linear systems

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Journal of Systems Engineering and Electronics 2013年第4期24卷 674-682页

作者： Chaoyang Jiang Yongan Zhang Center for control theory and guidance technology Harbin Institute of Technology

This paper aims at solving the state filtering problem for linear systems with state constraints. Three classes of typical state constraints, i.e., linear equality, quadratic equality and inequality, are discussed. By using the linear relationships among different state variables, a reduced-order Kalman filter is derived for the system with linear equality constraints. Afterwards, such a solution is applied to the cases of the quadratic equality constraint and inequality constraints and the two constrained state filtering problems are transformed into two relative constrained optimization problems. Then they are solved by the Lagrangian multiplier and linear matrix inequality techniques, respectively. Finally, two simple tracking examples are provided to illustrate the effectiveness of the reduced-order filters.

关键词： state constraint state filtering reduced-order Kalman filter linear matrix inequality (LMI).

An LMI-based decoupling control for electromagnetic formation flight

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Chinese Journal of Aeronautics 2015年第2期28卷 508-517页

作者： Huang Xianlin Zhang Chun Lu Hongqian Yin Hang Center for control theory and guidance technology Harbin Institute of Technology

Electromagnetic formation flight （EMFF） leverages electromagnetic force to control the relative position of satellites. EMFF offers a promising alternative to traditional propellant-based spacecraft flight formation. This novel strategy is very attractive since it does not consume fuel. Due to the highly coupled nonlinearity of electromagnetic force, it is difficult to individually design a controller for one satellite without considering others, which poses challenges to communications. This paper is devoted to decoupling control of EMFF, including regulations, constraints and con- troller design. A learning-based adaptive sliding mode decoupling controller is analyzed to illustrate the problem of existing results, and input rate saturation is introduced to guarantee the validity of frequency division technique. Through transformation, the imposed input rate saturation is con- verted to state and input constraints. A linear matrix inequalities （LMI）-based robust optimal con- trol method can then be used and improved to solve the transformed problem. Simulation results are presented to demonstrate the effectiveness of the proposed decoupling control.

关键词： Decoupling control Electromagnetic forces Electromagnetic formationflight Linear matrix inequalities Satellite control

Three-dimensional guidance law based on adaptive integral sliding mode control

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Chinese Journal of Aeronautics 2016年第1期29卷 202-214页

作者： Song Junhong Song Shenmin Center for control theory and guidance technology Harbin Institute of Technology

For the terminal guidance problem of missiles intercepting maneuvering targets in the three-dimensional space, the design of guidance laws for non-decoupling three-dimensional engage- ment geometry is studied. Firstly, by introducing a finite time integral sliding mode manifold, a novel guidance law based on the integral sliding mode control is presented with the target acceler- ation as a known bounded external disturbance. Then, an improved adaptive guidance law based on the integral sliding mode control without the information of the upper bound on the target accel- eration is developed, where the upper bound of the target acceleration is estimated online by a designed adaptive law. The both presented guidance laws can make sure that the elevation angular rate of the line-of-sight and the azimuth angular rate of the line-of-sight converge to zero in finite time. In the end, the results of the guidance performance for the proposed guidance laws are pre- sented by numerical simulations. Although the designed guidance laws are developed for the con- stant speed missiles, the simulation results for the time-varying speed missiles are also shown to further confirm the designed guidance laws.

关键词： Adaptive control Finite-time convergence Integral sliding mode control Missile Three-dimensional guidance law