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SCIENCE CHINA Information Sciences, Volume 62, Issue 12: 222202(2019) https://doi.org/10.1007/s11432-018-9844-3

Event-triggered attitude tracking for rigid spacecraft

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  • ReceivedOct 9, 2018
  • AcceptedMar 4, 2019
  • PublishedNov 12, 2019

Abstract

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme, the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.


Acknowledgment

This work was supported by National Natural Science Foundation of China (Grant Nos. 61503027, 51675041). The authors would like to thank the associate editor and the anonymous reviewers for their suggestions which have improved the quality of the work.


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  • Figure 1

    Schematic of the event-triggered ADRC scheme.

  • Figure 2

    (Color online) Attitude quaternion tracking performance of sinusoidal form. Tracking performance for (a) $q_1$, (b) $q_2$, (c) $q_3$, and (d) $q_4$.

  • Figure 3

    (Color online) Angular-velocity-tracking performance of sinusoidal form.

  • Figure 6

    (Color online) Sampling intervals of ET-ADRC scheme with $\Psi=1.5$ for sinusoidal form.

  • Figure 7

    (Color online) Sampling intervals of ET-ADRC scheme with $\Psi=2.5$ for square wave form.

  • Figure 8

    (Color online) Attitude quaternion tracking performance of square wave form. Tracking performance for (a) $q_1$, (b) $q_2$, (c) $q_3$, and (d) $q_4$.

  • Figure 9

    (Color online) Angular-velocity-tracking performance of square wave form.

  • Table 1   Performances of two control schemes of sinusoidal form
    Simulation scheme Average sampling time $T_{A}$ (ms) Tracking errors $E_{v}/E_{q}$ QEC $E_c$
    Time-triggered 1 0.0115/0.0059 0.58
    400 0.0407/0.0073 3.41
    Event-triggered 101.21 ($\Psi=0.1$) 0.0122/0.0059 0.59
    402.13 ($\Psi=1.5$) 0.0268/0.0075 0.84
  • Table 2   The effect of uncertainties upon the performance of the ET-ADRC scheme with $\Psi=0.1$
    Reference Simulation scenario Average inputs signal (N*m) Tracking errors $E_{v}/E_{q}$
    Sinusoid form With uncertainties $1.49$ $0.0122/0.0059$
    Without uncertainties $1.35$ $0.0123/0.0059$
    Squarewave form With uncertainties $1.90$ $0.0158/0.0063$
    Without uncertainties $1.67$ $0.0157/0.0063$
  • Table 3   Performances of two control schemes of square wave form
    Simulation scheme Average sampling time $T_{A}$ (ms) Tracking errors $E_{v}/E_{q}$ QEC $E_c$
    Time-triggered 1 0.0152/0.0063 0.60
    400 0.0575/0.0094 3.77
    Event-triggered 60.90 ($\Psi=0.1$) 0.0158/0.0063 0.61
    401.52 ($\Psi=2.5$) 0.0402/0.0092 1.16

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