Predefined-time sliding mode control for rigid spacecraft

SAI Hua-yang; XU Zhen-bang; HE Shuai; ZHANG En-yang; QIN Chao

doi:10.37188/OPE.20212912.2891

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Predefined-time sliding mode control for rigid spacecraft

Information Sciences | 更新时间：2026-09-12

- Predefined-time sliding mode control for rigid spacecraft
- Optics and Precision Engineering Vol. 29, Issue 12, Pages: 2891-2901(2021)
- 作者机构：
  
  1.中科院长春光学精密机械与物理研究所中科院空间光学系统在轨制造与;集成重点实验室，吉林长春 130033
  2.中国科学院大学，北京 100049
  3.中国科学院大学材料与光电研究中心，北京 100049
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20212912.2891
  CLC： TP394.1;TH691.9
- Received：30 March 2021，
  
  Revised：2021-05-05，
  
  Published：15 December 2021
- 稿件说明：
移动端阅览
赛华阳,徐振邦,贺帅等.刚性航天器的预定义时间滑模控制[J].光学精密工程,2021,29(12):2891-2901.

SAI Hua-yang,XU Zhen-bang,HE Shuai,et al.Predefined-time sliding mode control for rigid spacecraft[J].Optics and Precision Engineering,2021,29(12):2891-2901.
赛华阳,徐振邦,贺帅等.刚性航天器的预定义时间滑模控制[J].光学精密工程,2021,29(12):2891-2901. DOI： 10.37188/OPE.20212912.2891.

SAI Hua-yang,XU Zhen-bang,HE Shuai,et al.Predefined-time sliding mode control for rigid spacecraft[J].Optics and Precision Engineering,2021,29(12):2891-2901. DOI： 10.37188/OPE.20212912.2891.

摘要

针对刚性航天器在姿态跟踪控制中存在的系统不确定及外界干扰等问题，提出了一种预定义时间滑模控制器（PTSMC）。首先，给出了以四元数为姿态参数的航天器姿态跟踪控制系统，利用误差四元数和误差角速度设计了预定义时间滑模面。然后，考虑了航天器系统的不确定性和外界干扰设计了一种非保守上界的PTSMC，并通过边界层技术降低了系统抖动。最后，通过设计Lyapunov函数，证明了所提出的控制器的预定义时间稳定性和系统收敛时间上界的非保守性。仿真结果表明，刚性航天器的姿态跟踪误差精度可达1.5×10

-6

rad，角速度跟踪误差精度可达2×10

-6

rad/s。与现有的预定义时间控制器相比，所提出的控制器的稳定时间上限是更加非保守的，与传统PD控制和非奇异终端滑模控制相比，所提出的控制器具有更高的跟踪精度和鲁棒性。通过3自由度气浮平台的姿态跟踪实验进一步说明了控制方案的有效性，其中角度跟踪误差小于0.1 rad，位置跟踪误差小于0.2 m。

Abstract

To minimize system uncertainty and external disturbance in attitude tracking control for rigid spacecraft， a predefined-time sliding mode controller （PTSMC） is proposed. First， the spacecraft attitude tracking system is developed with quaternion parameterization， and the predefined time sliding surface is designed using an error quate

rnion and error angular velocity. Then， considering the uncertainties and external disturbances of the spacecraft system， a PTSMC with a non conservative upper bound is designed， and the noise of the system is reduced using boundary layer technology. Finally， by designing the Lyapunov function， the predefined-time stability of the proposed controller and the non conservative upper bound of the system convergence are demonstrated. The simulation results show that using the proposed approach， the attitude tracking accuracy of rigid spacecraft can reach 1.5×10

rad， and the angular velocity tracking accuracy can reach 2×10

rad/s. Compared with the existing predefined time control and non singular terminal sliding mode control， the upper bound of the stabilization time of the proposed control is more non conservative and has higher tracking accuracy and robustness. The effectiveness of the control scheme is further illustrated by the attitude tracking experiment of the 3 DOF airborne platform. The angle tracking error is less than 0.1 rad， and the position tracking error is less than 0.2 m.

关键词

Keywords

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