Configuration error function design and application to fixed-time geometric terminal sliding-mode control on SE(3)

Yulin Wang; Haichao Hong; Jie Guo; Xiao Wang; Wei Shang

doi:10.1016/j.actaastro.2020.03.018

Configuration error function design and application to fixed-time geometric terminal sliding-mode control on SE(3)

Yulin Wang, Haichao Hong, Jie Guo^*, Xiao Wang, Wei Shang

^*Corresponding author for this work

School of Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

Abstract

For addressing the position and attitude control of a fully-actuated 6-degree-of-freedom (6-DOF) rigid body, a new configuration error function is designed, and the configuration error vector is deduced as the gradient of this function, where the configuration stands for the set of position and attitude and is described by the nonlinear manifold SE(3). Based on the newly designed configuration error function, a geometric terminal sliding-mode controller is proposed to stabilize the configuration tracking errors of rigid body in a bounded fixed time considering disturbances. Simulations for close range rendezvous and docking of a spacecraft in an elliptical orbit illustrate the effectiveness of the proposed control scheme.

Original language	English
Pages (from-to)	61-71
Number of pages	11
Journal	Acta Astronautica
Volume	174
DOIs	https://doi.org/10.1016/j.actaastro.2020.03.018
Publication status	Published - Sept 2020

Keywords

Fixed-time stabilization
Geometric control
Rendezvous and docking
SE(3)
Terminal sliding-mode control

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10.1016/j.actaastro.2020.03.018

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Wang, Y., Hong, H., Guo, J., Wang, X., & Shang, W. (2020). Configuration error function design and application to fixed-time geometric terminal sliding-mode control on SE(3). Acta Astronautica, 174, 61-71. https://doi.org/10.1016/j.actaastro.2020.03.018

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title = "Configuration error function design and application to fixed-time geometric terminal sliding-mode control on SE(3)",

abstract = "For addressing the position and attitude control of a fully-actuated 6-degree-of-freedom (6-DOF) rigid body, a new configuration error function is designed, and the configuration error vector is deduced as the gradient of this function, where the configuration stands for the set of position and attitude and is described by the nonlinear manifold SE(3). Based on the newly designed configuration error function, a geometric terminal sliding-mode controller is proposed to stabilize the configuration tracking errors of rigid body in a bounded fixed time considering disturbances. Simulations for close range rendezvous and docking of a spacecraft in an elliptical orbit illustrate the effectiveness of the proposed control scheme.",

keywords = "Fixed-time stabilization, Geometric control, Rendezvous and docking, SE(3), Terminal sliding-mode control",

author = "Yulin Wang and Haichao Hong and Jie Guo and Xiao Wang and Wei Shang",

note = "Publisher Copyright: {\textcopyright} 2020 IAA",

year = "2020",

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doi = "10.1016/j.actaastro.2020.03.018",

language = "English",

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AU - Wang, Yulin

AU - Hong, Haichao

AU - Guo, Jie

AU - Wang, Xiao

AU - Shang, Wei

PY - 2020/9

Y1 - 2020/9

N2 - For addressing the position and attitude control of a fully-actuated 6-degree-of-freedom (6-DOF) rigid body, a new configuration error function is designed, and the configuration error vector is deduced as the gradient of this function, where the configuration stands for the set of position and attitude and is described by the nonlinear manifold SE(3). Based on the newly designed configuration error function, a geometric terminal sliding-mode controller is proposed to stabilize the configuration tracking errors of rigid body in a bounded fixed time considering disturbances. Simulations for close range rendezvous and docking of a spacecraft in an elliptical orbit illustrate the effectiveness of the proposed control scheme.

AB - For addressing the position and attitude control of a fully-actuated 6-degree-of-freedom (6-DOF) rigid body, a new configuration error function is designed, and the configuration error vector is deduced as the gradient of this function, where the configuration stands for the set of position and attitude and is described by the nonlinear manifold SE(3). Based on the newly designed configuration error function, a geometric terminal sliding-mode controller is proposed to stabilize the configuration tracking errors of rigid body in a bounded fixed time considering disturbances. Simulations for close range rendezvous and docking of a spacecraft in an elliptical orbit illustrate the effectiveness of the proposed control scheme.

KW - Fixed-time stabilization

KW - Geometric control

KW - Rendezvous and docking

KW - SE(3)

KW - Terminal sliding-mode control

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DO - 10.1016/j.actaastro.2020.03.018

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VL - 174

SP - 61

EP - 71

JO - Acta Astronautica

JF - Acta Astronautica

ER -

Configuration error function design and application to fixed-time geometric terminal sliding-mode control on SE(3)

Abstract

Keywords

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