Barrier Lyapunov function-based adaptive fuzzy attitude tracking control for rigid satellite with input delay and output constraint |
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| Institution: | 1. College of Electronics and Information Engineering, Tongji University, Shanghai 201804, China;2. Department of Electronic and Electrical Engineering, University College London, London WC1E 6BT, UK;3. School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, China;1. School of Artificial Intelligence, Hebei University of Technology, Tianjin 300130, China;2. Ministry of Education Engineering Center of Intelligent Rehabilitation and Detection Technology, Hebei University of Technology, Tianjin 300130, China;3. Hebei Key Laboratory of Robot Sensing and Human-Robot Interaction, Tianjin 300130, China |
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| Abstract: | This paper investigates the adaptive attitude tracking problem for the rigid satellite involving output constraint, input saturation, input time delay, and external disturbance by integrating barrier Lyapunov function (BLF) and prescribed performance control (PPC). In contrast to the existing approaches, the input delay is addressed by Pade approximation, and the actual control input concerning saturation is obtained by utilizing an auxiliary variable that simplifies the controller design with respect to mean value methods or Nussbaum function-based strategies. Due to the implementation of the BLF control, together with an interval notion-based PPC strategy, not only the system output but also the transformed error produced by PPC are constrained. An adaptive fuzzy controller is then constructed and the predesigned constraints for system output and the transformed error will not be violated. In addition, a smooth switch term is imported into the controller such that the finite time convergence for all error variables is guaranteed for a certain case while the singularity problem is avoided. Finally, simulations are provided to show the effectiveness and potential of the proposed new design techniques. |
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