Adaptive finite-time tracking control of 6DOF spacecraft motion with inertia parameter identification

• Published in: IET control theory & applications Vol. 13; no. 13; pp. 2075 - 2085
• Main Authors: Zhao, Qin, Duan, Guangren
• Format: Journal Article
• Language: English
• Published: The Institution of Engineering and Technology 03.09.2019
• Subjects: 6DOF spacecraft motion; adaptive backstepping technique; adaptive control; adaptive finite‐time tracking control; attitude control; command attitude tracking; command position tracking; control law; control nonlinearities; control strategy; control system synthesis; external disturbance; filtering theory; finite time; first‐order filter operations; inertia parameter identification; input saturation; integrated finite‐time tracking controller; integrated rotational dynamics; integrated translational dynamics; Lyapunov methods; Lyapunov theory; motion control; parameter estimation; parameter estimation error; relative motion control; Research Article; space vehicles; system natural couplings; trajectory control; trajectory tracking; vehicle dynamics; control strategy; integrated finite-time tracking controller; adaptive backstepping technique; first-order filter operations; trajectory tracking; motion control; integrated translational dynamics; control nonlinearities; attitude control; trajectory control; 6DOF spacecraft motion; parameter estimation; inertia parameter identification; external disturbance; parameter estimation error; filtering theory; integrated rotational dynamics; adaptive control; control system synthesis; vehicle dynamics; space vehicles; Lyapunov theory; command attitude tracking; relative motion control; system natural couplings; control law; input saturation; finite time; adaptive finite-time tracking control; command position tracking; Lyapunov methods
• ISSN: 1751-8644; 1751-8652
• DOI: 10.1049/iet-cta.2019.0245

This study deals with the problem of relative motion control with 6 degrees of freedom (6DOF) for spacecrafts without a priori knowledge of the inertia parameters. Considering the system natural couplings, the integrated rotational and translational dynamics of the spacecraft are achieved. By a series of first-order filter operations, an expression of the parameter estimation error is derived and then used for the design of an integrated finite-time tracking controller applying adaptive backstepping technique. Proven by the Lyapunov theory, the proposed controller can guarantee that the errors of trajectory tracking and parameter identification simultaneously converge to zero in finite time. Furthermore, to be applied in practice, the controller is adapted for the spacecraft subject to external disturbance and input saturation. Compared with the previous control designs, the proposed control strategy can realise inertia parameter identification together with tracking of command position and attitude in finite time, in the presence of input saturation and external disturbance. The effectiveness of the control law is finally demonstrated by numerical simulations.