The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground,...The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.展开更多
针对网络化控制系统(NCS)中的随机时变时延,采用自行开发的基于应用层的测试软件,按照IETF(The Internet Engi-neering Task Force)的RFC2544规范,进行了6个多月实际测量,获得了170余万个网络时延数据;通过对实验数据进行相关分析,建立...针对网络化控制系统(NCS)中的随机时变时延,采用自行开发的基于应用层的测试软件,按照IETF(The Internet Engi-neering Task Force)的RFC2544规范,进行了6个多月实际测量,获得了170余万个网络时延数据;通过对实验数据进行相关分析,建立了网络时延的自适应自回归(AR)模型;并用自适应最小均方差(LMS)算法对实测的网络时延进行了估计和预测,实验结果表明了算法的有效性。展开更多
基金This study was supported by the National Defense Science and Technology Innovation Zone of China(Grant No.00205501).
文摘The reconstruction control of modular self-reconfigurable spacecraft (MSRS) is addressed using an adaptive sliding mode control (ASMC) scheme based on time-delay estimation (TDE) technology. In contrast to the ground, the base of the MSRS is floating when assembled in orbit, resulting in a strong dynamic coupling effect. A TED-based ASMC technique with exponential reaching law is designed to achieve high-precision coordinated control between the spacecraft base and the robotic arm. TDE technology is used by the controller to compensate for coupling terms and uncertainties, while ASMC can augment and improve TDE’s robustness. To suppress TDE errors and eliminate chattering, a new adaptive law is created to modify gain parameters online, ensuring quick dynamic response and high tracking accuracy. The Lyapunov approach shows that the tracking errors are uniformly ultimately bounded (UUB). Finally, the on-orbit assembly process of MSRS is simulated to validate the efficacy of the proposed control scheme. The simulation results show that the proposed control method can accurately complete the target module’s on-orbit assembly, with minimal perturbations to the spacecraft’s attitude. Meanwhile, it has a high level of robustness and can effectively eliminate chattering.
基金国家自然科学基金(the National Natural Science Foundation of China under Grant No.60674057)
文摘针对网络化控制系统(NCS)中的随机时变时延,采用自行开发的基于应用层的测试软件,按照IETF(The Internet Engi-neering Task Force)的RFC2544规范,进行了6个多月实际测量,获得了170余万个网络时延数据;通过对实验数据进行相关分析,建立了网络时延的自适应自回归(AR)模型;并用自适应最小均方差(LMS)算法对实测的网络时延进行了估计和预测,实验结果表明了算法的有效性。
