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.
Issue Section:
Research Papers
References
1.
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
.2.
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
.3.
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
.4.
Feng
, Y.
, Yu
, X.
, and Man
, Z.
, 2002
, “Non-Singular Terminal Sliding Mode Control of Rigid Manipulators
,” Automatica
, 38
(12
), pp. 2159
–2167
.5.
Chen
, W.
, 2004
, “Disturbance Observer-Based Control for Nonlinear Systems
,” IEEE/ASME Trans. Mechatronics
, 9
(4
), pp. 706
–710
.6.
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
.7.
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
.8.
Han
, J.
, 2009
, “From PID to Active Disturbance Rejection Control
,” IEEE Trans. Ind. Electron.
, 56
(3
), pp. 900
–906
.9.
Li
, S.
, Yang
, J.
, Chen
, W.
, and Chen
, X.
, 2014
, Disturbance Observer-Based Control Methods and Applications
, CRC Press
, Boca Raton, FL.10.
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
.11.
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
.12.
Chen
, W.
, 2003
, “Harmonic Disturbance Observer for Nonlinear Systems
,” ASME J. Dyn. Syst. Meas. Control
, 125
(1
), pp. 114
–117
.13.
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
.14.
Levant
, A.
, 2003
, “Higher-Order Sliding Modes, Differentiation and Output-Feedback Control
,” Int. J. Control
, 76
(9
), pp. 924
–941
.15.
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
.16.
Guo
, B.
, and Zhao
, Z.
, 2013
, “Weak Convergence of Nonlinear High-Gain Tracking Differentiator
,” IEEE Trans. Autom. Control
, 58
(4
), pp. 1074
–1080
.17.
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
.18.
Huang
, Y.
, and Xue
, W.
, 2014
, “Active Disturbance Rejection Control: Methodology and Theoretical Analysis
,” ISA Trans.
, 53
(4
), pp. 963
–976
.19.
Zhao
, S.
, and Gao
, Z.
, 2014
, “Modified Active Disturbance Rejection Control for Time Delay Systems
,” ISA Trans.
, 53
(4
), pp. 882
–888
.20.
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
.21.
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
.22.
Ding
, S.
, Levant
, A.
, and Li
, S.
, 2016
, “Simple Homogeneous Sliding-Mode Controller
,” Automatica
, 67
(5
), pp. 22
–32
.23.
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
.24.
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
.25.
Shtessel
, Y.
, Shkolnikov
, I.
, and Levant
, A.
, 2007
, “Smooth Second-Order Sliding Modes: Missile Guidance Application
,” Automatica
, 43
(8
), pp. 1470
–1476
.26.
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
.27.
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
.28.
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
.29.
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
.30.
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
.31.
Qian
, C.
, 2005
, “A Homogeneous Domination Approach for Global Output Feedback Stabilization of a Class of Nonlinear Systems
,” American Control Conference
, pp. 4708
–4715
.32.
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
.33.
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
.34.
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
.35.
Shuster
, M. D.
, 1993
, “A Survey of Attitude Representations
,” J. Astronaut. Sci.
, 41
(4
), pp. 439
–517
.36.
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
.37.
Menard
, T.
, Moulay
, E.
, and Perruquetii
, W.
, 2010
, “A Global High-Gain Finite-Time Observer
,” IEEE Trans. Autom. Control
, 55
(6
), pp. 1500
–1506
.38.
Xing
, G. Q.
, and Parvez
, S. A.
, 2001
, “Nonlinear Attitude State Tracking Control for Spacecraft
,” J. Guid. Control Dyn.
, 24
(3
), pp. 624
–626
.Copyright © 2017 by ASME
You do not currently have access to this content.
