Abstract
In this article, a hardware-in-the-loop implementation of two robust controllers based on high-order sliding mode and μ-synthesis method are performed and compared in terms of performance and functionality. The spacecraft simulator consists of a free-floating platform hinged on a spherical air-bearing support. The proposed scheme makes full use of adaptive super twisting algorithm to alleviate the chattering effects without increasing the control effort; both controllers are adapted to deal with the saturation of reaction wheels with respect to momentum and its rate of change. The ab-initio simulations compared well with the simulator responses, implying that involved instruments including actuators and sensors have been properly emulated. This also proved that the external disturbances were modeled in a reliable manner. The robustness and effectiveness of the proposed scheme have been validated experimentally under extreme circumstances and uncertainties.
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Recommended by Associate Editor Chang Kyung Ryoo under the direction of Editor Duk-Sun Shim. The author would like to thank the Iran National Science Foundation (INSF) (grant number 94003597).
Maryam Malekzadeh received the B.S. degree in mechanical engineering from Sharif University of Technology, Tehran, Iran, the M.Sc. and Ph.D. degrees in aerospace engineering from Amirkabir University of Technology, Tehran, Iran, in 2002, 2004, and 2010, respectively. She is currently an assistant professor in the Department of Mechanical Engineering, University of Isfahan. Her main research interests include spacecraft formation flying, robust and nonlinear control, multi agent systems dynamics and control and vibration analysis and control.
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Malekzadeh, M. Robust Control of Spacecraft: Application to an Actuated Simulator. Int. J. Control Autom. Syst. 16, 896–903 (2018). https://doi.org/10.1007/s12555-016-0803-2
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DOI: https://doi.org/10.1007/s12555-016-0803-2