This paper investigates the prescribed performance attitude tracking control problem of a rigid spacecraft with uncertain dynamics and bounded disturbances. By suitable selection configuration error function, trajectory on SO(3) is transformed into point stabilisation an dynamic system in associated Lie algebra. The predefined transient indexes, which include maximum steady-state overshoot, minimum convergence rate vector, are characterised as inequality constraints. For controller design,...

This paper investigates the prescribed performance fixed-time tracking control problem for a class of second-order nonlinear systems with bounded disturbance and actuator saturation limit. In order to facilitate controller development, we introduce function output error transformation technique transform dynamics inequality constraints an equivalent unconstrained one. Different from existing work on guaranteeing control, incorporate sliding mode surface into design procedure cope...

This paper investigates the optimal spacecraft reorientation issue while adhering to attitude pointing and actuator constraints. To handle second-order nature of constraint in dynamics, a high-order control barrier function (HOCBF) is developed, ensuring forward invariance set via Lyapunov-like conditions. A fixed-time stability (FxTS) Lyapunov introduced achieve using sliding mode techniques. The problem formulated as quadratic programming (QP) optimisation with limits, leveraging slack...

This paper investigates the trajectory tracking problem for quadrotors with finite-time convergence via homogeneous feedback approach. Based on inherent underactuated cascaded properties of a quadrotor, control is decomposed into outer position loop and inner attitude loop. And orientation four thrust inputs determined by Therefore, an geometric controller based exponential coordinates first proposed, which avoids kinematic singularity redundancy. Then, plus dynamics compensation scheme...

In this paper, we investigate the finite-time attitude tracking control problem for a rigid spacecraft on special orthogonal group ( <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$SO(3)$</tex-math></inline-formula> ). The exponential coordinates, derived from and logarithmic maps of Lie group, are utilized to describe error almost globally unique except zero measure set which map is double valued. To avoid...

This brief investigates the fixed-time tracking problem for uncertain nonlinear systems with input saturation constraint under event-triggered scheme. An adaptive controller is proposed to drive error a residual set in fixed time, which can eliminate of "explosion complexity". Furthermore, order decrease communication burden between and actuator while maintaining system control performance, we co-design strategy, guarantees that injected into only when predefined event occurs. In addition,...

Abstract This paper investigates the fixed‐time attitude tracking problem for rigid spacecraft in presence of inertial uncertainties, external disturbances, actuator faults, and input saturation constraints. The logarithm map is first utilized to transform on S O (3) into stabilization one its associated Lie algebra ( ). A novel nonsingular fixed‐time‐based sliding mode designed, which not only avoids singularity but also guarantees that convergence time errors along surface independent...

This paper investigates the continuous composite control scheme for tracking of nonlinear system with mismatched disturbances, input saturation and full-state constraints. Based on fixed-time stability theory, a novel disturbance observer is proposed, which switches from uniform second-order sliding mode high-degree term to classical super-twisting observer. Then, command filtered backstepping designed enforce error into small neighbourhood origin in fixed time while constraint are...

This paper investigates the trajectory tracking problem for quadrotor with attitude finite-time convergence via geometric approach. First, a global dynamic description is presented on special Euclidean group (SE(3)), and control decomposed into two cascaded loops: position loop loop. Then, based fact that fast loop, controller exponential coordinate proposed to speed up response rate of so artificial singularity redundancy can be avoided. In addition, backstepping designed construct thrust...

This paper addresses the global finite-time attitude stabilisation problem on special orthogonal group (SO(3)) for a rigid spacecraft via homogeneous feedback approach. Considering topological and geometric properties of SO(3), logarithm map is utilised to transform SO(3) into one its associated Lie algebra (so(3)). A model-independent discontinuous state plus dynamics compensation scheme constructed achieve in coordinate-invariant way. In addition, address absence angular velocity...

This paper studies the prescribed performance tracking control problem for a pure-feedback nonlinear system with full-state constraints. By incorporating asymmetric barrier Lyapunov functions into dynamic surface control, we develop an adaptive scheme, which can ensure that all closed-loop signals remain bounded and constraints are not violated. Furthermore, explore event-triggered systems constraints, save limited computing communication resources. The numerical simulations provided to...

This paper investigates the attitude trajectory tracking problem of a rigid spacecraft subject to external disturbances and full-state constraint under event-triggered scheme. By incorporating barrier Lyapunov function (BLF) into dynamic surface technique, we develop coordinate-free integral sliding mode controller which cannot only deal with state but also enforce error converge vicinity origin. To save computation communication resources, modified mode-based robust is proposed, in control...

Abstract This paper addresses appointed‐time attitude coordinated control problem of multiple spacecraft under the directed communication topology in presence input saturation. With only a subset spacecrafts being able to access information reference trajectory, distributed observer is developed for each estimate virtual leader's state fixed time. Subsequently, ensure tracking error can achieve preassigned transient and steady performance, an adaptive backstepping controller synthesized by...

In this paper, the attitude tracking problem for rigid body with model uncertainties and external disturbances is investigated in a coordinate-free way. A continuous adaptive-gain second-order sliding mode controller designed to ensure establishment of real finite time, then predefined nonsingular fast surface further implies finite-time stability error vector angular velocity vector. The key feature proposed that it does not require knowledge boundary disturbance gradient. rigorous...

This paper investigates the trajectory tracking problem for quadrotor with finite-time convergence via geometric approach. Based on a global dynamic description SE(3), we decompose control into two cascaded loops: position loop and attitude loop. A controller based exponential coordinate is proposed sliding mode approach, which avoids artificial singularity redundancy. Further, an adaptive law utilized to estimate uncertainties of mass inertia matrix. Numerical results are presented...

In this paper, an adaptive critic-based approximate optimal control scheme is constructed for the attitude coordinated tracking problem with prescribed performance requirements and input saturation constraint. Since virtual leader’s information not available some followers, a predetermined-time distributed observer deployed each follower to reconstruct information. Subsequently, error transformation procedure imported reformulate prescribed-time coordination issue constraint as stabilization...

In order to simulate and evaluate wind farm low-voltage ride through capability, turbine should be modelled simulated as real-life system operation. this paper, a validation method based on state interval error calculation is proposed. The model specified in domestic international standards introduced. necessity of steady- transient-state definition analysed transient behaviour research. Meanwhile, allowed tolerances are studied by simulation comparison, using models with different...

Purpose The purpose of this paper is to design a solar sail heliocentric transfer orbit which can meet the requirements control system and capture orbit, provide change angles for attitude system. Design/methodology/approach Aiming at problem orbits design, addresses derivation analytical optimal law. laws realize combination each element, but they only give local solution practical needs mission. In order solve requirements, modified genetic algorithm based on law introduced. Findings...

This paper investigates the prescribed performance attitude tracking problem for rigid spacecraft subject to external disturbances and multiple constraints, including input saturation full-state constraints. By employing barrier Lyapunov function an error-shifting transformation, a fixed-time control strategy is devised capable of dealing with under completely unknown initial condition. In addition, auxiliary system also introduced compensate adverse effect arising from saturation. Finally,...

This paper addresses the tracking control problem for uncertain Euler-Lagrange system with time-varying output constraints in an environment containing obstacles. First, a novel log-type attractive potential field is utilized to describe trajectory task constraints, and bounded artificial established obstacle avoidance task. Then, by incorporating two fields (APFs) into dynamic surface control, neuro-adaptive designed system, which can ensure fulfill track within limit range while avoiding...

This paper investigates the finite-time output feedback stabilization of rigid body attitude dynamics without velocity measurement on special orthogonal group ( SO(3)). We first transform problem SO(3) into issue its Lie algebra (so(3)) via logarithm map. The proposed approach consists exponential coordinates and a nonlinear filter knowledge control input. Then stability resulting closed-loop system is proven based Lyapunov theory geometric homogeneity technique. Since set singularities zero...