CN117406785B - Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state - Google Patents
Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state Download PDFInfo
- Publication number
- CN117406785B CN117406785B CN202311635163.2A CN202311635163A CN117406785B CN 117406785 B CN117406785 B CN 117406785B CN 202311635163 A CN202311635163 A CN 202311635163A CN 117406785 B CN117406785 B CN 117406785B
- Authority
- CN
- China
- Prior art keywords
- flexible
- attitude
- spacecraft
- disturbance
- interference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008878 coupling Effects 0.000 title claims abstract description 37
- 238000010168 coupling process Methods 0.000 title claims abstract description 37
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims abstract description 44
- 239000013598 vector Substances 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 6
- 230000001629 suppression Effects 0.000 claims abstract description 6
- 238000013461 design Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005764 inhibitory process Effects 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 2
- 230000001419 dependent effect Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 claims 1
- 230000002452 interceptive effect Effects 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract description 12
- 238000012512 characterization method Methods 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 5
- 238000009412 basement excavation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005312 nonlinear dynamic Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a spacecraft output feedback attitude pointing control method under flexible deep coupling dynamics, which belongs to the field of spacecraft control and aims at a flexible spacecraft attitude pointing control system under multi-source composite interference such as flexible vibration interference, and firstly, a flexible spacecraft deep coupling attitude dynamics model is established based on attitude kinematics and dynamics equation of a flexible spacecraft, and the deep coupling dynamic relationship between the flexible vibration interference, attitude vector and control input is characterized; secondly, designing a fine interference observer based on measurement information to complete real-time estimation of spacecraft attitude vectors and flexible vibration interference, and completing solution of a gain matrix of the fine interference observer; and finally, designing an output feedback gesture pointing controller based on the output information of the fine disturbance observer, so as to realize compensation of flexible vibration disturbance and suppression of environmental disturbance moment. The invention has the advantages of fine interference characterization, high control precision and the like, and can be used for high-precision attitude pointing control of the flexible spacecraft.
Description
Technical Field
The invention belongs to the field of spacecraft control, and particularly relates to a spacecraft output feedback attitude pointing control method under flexible deep coupling dynamics, which can realize fine estimation, compensation and suppression of multi-source composite interference of a flexible spacecraft and can be used for anti-interference control in precise pointing spaceflight tasks such as inter-satellite laser communication and the like.
Background
Space tasks such as inter-satellite laser communication, space/earth observation, precision science experiments and the like are continuously improved on the requirements on the attitude pointing precision and stability of the spacecraft. For example, to achieve inter-satellite autonomous link establishment at thousands of kilometers, the attitude pointing accuracy of a laser communication satellite needs to reach micro radians. However, for flexible spacecraft with precise pointing tasks, there is often a non-co-located layout in which the attitude sensors are mounted on the flexible components, making the rigid-flex coupling characteristics of the spacecraft complex and facing the effects of multi-source, multi-channel composite interference. Firstly, sources of interference comprise flexible component vibration, optical pressure/geomagnetic interference moment, model unknown coupling items and the like, and an interference acting channel comprises a control input channel and a measurement channel; second, disturbances have a complex character, i.e. the coupling between the disturbance and other physical quantities, e.g. flexural vibrations are related to the angular acceleration of the gesture, and thus there is an inherent coupling with the gesture angle, control inputs and other disturbances. Therefore, fine interference estimation and compensation of the flexible spacecraft under multi-source and multi-channel composite interference become key technologies for improving the attitude pointing precision and stability of the flexible spacecraft.
The active disturbance rejection control based on disturbance invariance criterion design and the control based on disturbance observer are two common disturbance estimation and compensation methods, and have been widely focused in the fields of spacecraft control and the like. The active disturbance rejection control estimates and compensates all internal and external disturbance as a single lumped disturbance in real time, and has excellent control effect on dynamic uncertainty (particularly a slow time-varying dynamic system). Different from the active disturbance rejection control, the control based on the disturbance observer can realize fine disturbance estimation on the basis of fully utilizing disturbance model information, and is more suitable for the disturbance with part of known characteristic information. However, conventional active-disturbance-rejection control and disturbance-observer-based control are directed to only a single disturbance system.
For the problem of a multisource interference system, the composite layered anti-interference control realizes the simultaneous suppression and compensation of multisource interference on the basis of fully extracting multisource interference characteristics and interference characterization, and is widely applied to systems such as high-precision attitude control of an aerospace vehicle. In the literature (Liu H, guo L, zhang Y M, an Anti-Disturbance PD Control Scheme for Attitude Control and Stabilization of Flexible Spacecraft, nonlinear Dynamics, 2012, 67 (3): 2081-2088), a composite Anti-interference control strategy is designed that combines An interference observer with PD control. The patent ZL201710904100.0 brings the active disturbance rejection control and the disturbance observer-based control into a unified frame, and invents a flexible spacecraft strong disturbance rejection attitude control technology. However, the existing methods such as composite layering anti-interference control still have two key problems that breakthrough is needed urgently: on one hand, the current composite anti-interference control method only considers the interference of the input channel of the spacecraft, and presumes that the attitude angle, the angular speed and other information of the spacecraft are measurable, and ignores the influence of flexible vibration on the measuring channel, so that the method cannot be suitable for the situation of non-co-located layout; on the other hand, the composite characteristic of the flexible spacecraft interference is not considered, and the deep excavation of the coupling relation between the interference and other physical quantities is lacking, so that the interference estimation and compensation accuracy is restricted.
Disclosure of Invention
Aiming at the problems of insufficient dynamic excavation and insufficient characterization of disturbance coupling such as flexible vibration and the like in the existing spacecraft attitude control method, the invention provides the spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state, which further enhances the pointing precision and the anti-disturbance capability of the flexible spacecraft under multi-source and multi-channel composite disturbance, fully excavates the coupling association relation between the composite disturbance, establishes a deep coupling attitude dynamics model of the flexible spacecraft, and fully considers the input channel topological relation of the multi-source disturbance under non-co-location layout. On the basis, the high-precision and high-stability attitude pointing control of the flexible spacecraft is realized by combining means of fine interference estimation, feedforward compensation, feedback inhibition and the like, and theoretical and technical support is provided for precise tasks such as inter-satellite laser communication, space/earth observation and the like.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a spacecraft output feedback attitude pointing control method under flexible deep coupling dynamics comprises the following steps:
step 1, based on the attitude kinematics and the dynamics equation of the flexible spacecraft, representing the deep coupling dynamic relation between flexible vibration interference and an attitude vector and between the flexible vibration interference and a control input, and establishing a flexible spacecraft deep coupling attitude dynamics model;
step 2, designing a fine interference observer based on measurement information to complete real-time estimation of attitude vectors and flexible vibration interference of the flexible spacecraft, and completing solution of a gain matrix of the fine interference observer;
and 3, designing an output feedback gesture pointing controller based on the output information of the fine disturbance observer, so as to realize compensation of flexible vibration disturbance and suppression of environmental disturbance moment.
Compared with the prior art, the invention has the beneficial effects that:
aiming at the problem of attitude pointing control of a spacecraft under multi-source composite interference such as flexible vibration interference, the invention fully excavates the dynamic coupling relation between flexible vibration and attitude vector and control input, designs a fine interference estimation and control method based on a deep coupling dynamics model, and can remarkably improve the accuracy and stability of attitude pointing in precise tasks such as inter-satellite laser communication, space/earth observation and the like.
Drawings
FIG. 1 is a block flow diagram of a spacecraft output feedback attitude pointing control method under flexible deep coupling dynamics of the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in FIG. 1, the spacecraft output feedback attitude pointing control method under flexible deep coupling dynamics comprises the following steps:
the method comprises the steps of firstly, characterizing a deep coupling dynamic relation between flexible vibration interference and attitude vectors and between control inputs based on attitude kinematics and a dynamic equation of a flexible spacecraft, and establishing a flexible spacecraft deep coupling attitude dynamic model:
the attitude kinematic equation of the flexible spacecraft is:
，
wherein,、/>and->The rolling angular velocity, the pitch angle velocity and the yaw angle velocity of the spacecraft; />、/>、Representing roll angle, pitch angle and yaw angle of spacecraft,/->、/>And->Respectively->、/>、/>Is a first order time derivative of (a); />Is the track angular velocity;
the attitude dynamics of a flexible spacecraft are expressed as:
，
wherein,the inertia matrix is a diagonal matrix of the spacecraft; />The expression is represented by->、And->The upper mark T of the spacecraft angular velocity vector is transposed operation, < >>Is->Is a first order time derivative of (a);representing a rigid-flexible coupling matrix, ">Representation about->Cross matrix of>Representing a control input; />And->Respectively, gravitational gradient moment and environment interference moment; />Representing the modal displacement of the flexible member->And->Respectively indicate->First and second time derivatives, respectively>And->Represents the damping matrix and the stiffness matrix of the flexible part, respectively, < >>Representation->Is a transposed matrix of (a); />Representation->Zero matrix of row 1 column,>for modal displacement->Dimension of (2);
for a spacecraft with attitude sensors mounted on flexible members, the measurement equation is described as:
，
wherein,for the measurement output of the attitude sensor, +.>Is->、/>And->Constituent vectors, superscript "T" means transpose operation, ">Is a known matrix associated with the attitude sensor mounting configuration;
defining a gesture vectorThe attitude kinematics, attitude dynamics and measurement equations of the spacecraft are expressed as models +.>The form of (2):
，
wherein,representing gesture vector +.>Is a first order time derivative of (a); />Indicating flexible vibration disturbance->Indicating the remaining interference; coefficient matrix->、/>And->The expression of (2) is，/>，/>Wherein->And->Zero matrix and identity matrix respectively representing 3 rows and 3 columns,>and->Is a known coefficient matrix, and the expression is as follows:，/>，representing an inertia matrix->An inverse matrix of (a); />、/>And->Is an inertia matrix->The diagonal elements of (a) respectively represent the moment of inertia of the roll axis, the pitch axis and the yaw axis;
based on modal dynamics equation of flexible vibration, the flexible vibration interference is revealedDeep coupling dynamic relation with attitude vector and control input, and flexible vibration disturbance is characterized by the following external model +.>The form of (2):
，
wherein,for modal displacement->And its first order time derivative +.>The vector of the components, superscript "T" indicates the transpose operation; />Representation->Is a first order time derivative of (a); coefficient matrix->、/>、/>And->The expression of (2) is，/>，，/>In coefficient matrix->Is a known matrix>And (3) withRespectively indicate->Go->Zero matrix and identity matrix of columns, +.>Representation->Zero matrix of row 3 column,>for modal displacementDimension of (2);
combined standAnd->Obtaining a flexible spacecraft deep coupling attitude dynamic model +.>：
，
Wherein,，/>，/>representing 3 rows->A zero matrix of the columns is used,and->Respectively indicate->Go->Zero matrix and identity matrix of the column; />Indicating the remaining interference;
secondly, designing a fine interference observer based on measurement information to complete real-time estimation of spacecraft attitude vectors and flexible vibration interference, and completing solution of a gain matrix of the fine interference observer:
based on measurement information, the following fine interference observer is designed：
，
Wherein,、/>and->Respectively indicate->、/>And->Estimated value of ∈10->And->Respectively indicate->And->First order time derivative of>Gain matrix representing fine disturbance observer, +.>Indicate the measurement output->Is a function of the estimated value of (2);
based on flexible spacecraft deep coupling attitude dynamics modelAnd fine disturbance observer->The estimated error dynamics of the fine interference observer are obtained as follows:
，
wherein,and->Respectively represent fine disturbance observer->For->And->Error of estimation +.>And->Respectively indicate->And->First order time derivative of>Representation->Go->A zero matrix of columns;
gain matrix for fine disturbance observerSolving by:
，
wherein,representing complex variables +.>Representation->Go->Unit matrix of columns, ">Representing a determinant of a solution matrix; />Indicate->Negative characteristic value, subscript->Representing from 1 to->Is a positive integer of (a) and (b),representing from->To->Is multiplied by (a); />For modal displacement->Dimension of (2);
thirdly, designing an output feedback gesture pointing controller based on output information of the fine disturbance observer to realize compensation of flexible vibration disturbance and suppression of environmental disturbance moment:
completing the design of the output feedback gesture pointing controller and controlling the inputThe design is as follows:
，
wherein,for the controller gain matrix, solve by:
，
wherein,representing complex variables +.>Represents a 6 row 6 column identity matrix, +.>Representing the determinant of the solution matrix,is an adjustable controller pole. Output feedback gesture pointing controller pass +>Compensation of the flexural vibration disturbances is achieved by +.>And the inhibition of the environmental disturbance moment is realized.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (2)
1. A spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state is characterized by comprising the following steps of
The steps are as follows:
step 1, based on the attitude kinematics and the dynamics equation of the flexible spacecraft, representing the deep coupling dynamic relation between flexible vibration interference and an attitude vector and between the flexible vibration interference and a control input, and establishing a flexible spacecraft deep coupling attitude dynamics model;
describing the attitude kinematics of the flexible spacecraft by adopting an Euler angle method under the condition of a small angle, and establishing the attitude kinematics and a dynamics equation of the flexible spacecraft; the attitude kinematics and dynamics equations and the measurement equations of the flexible spacecraft are expressed as:
，
wherein,representing attitude vectors of spacecraft, +.>Representing gesture vector +.>Is a first order time derivative of (a);indicating flexible vibration disturbance->Representing a rigid-flexible coupling matrix, ">Representing the modal displacement of the flexible member->Representation->First order time derivative of>And->Respectively representing a damping matrix and a stiffness matrix of the flexible component; />Indicating the remaining disturbances, including gravity gradient moments and ambient disturbance moments, < >>Representing control input +.>The measurement output of the attitude sensor; />、/>And->Is a known coefficient matrix; />Mounting a configuration-dependent known matrix for the attitude sensor;
based on a modal dynamics equation of the flexible vibration disturbance, the flexible vibration disturbance is characterized as an external model by revealing a deep coupling dynamic relation between the flexible vibration disturbance and a gesture vector and controlling input; combining an external model of flexible vibration interference, spacecraft attitude kinematics and a dynamics equation and a measurement equation to obtain a flexible spacecraft deep coupling attitude dynamics model, wherein the flexible spacecraft deep coupling attitude dynamics model comprises the following steps:
，
wherein,for modal displacement->And its first order time derivative +.>The vector of the components, superscript "T" indicates the transpose operation; />Representation->Is a first order time derivative of (a); />、/>、/>And->Is a known coefficient matrix;，/>，/>representing 3 rows->Zero matrix of columns, ">And->Respectively indicate->Go->Zero matrix and identity matrix of the column; />For modal displacement->Dimension of (2);
step 2, designing a fine interference observer based on measurement information to complete real-time estimation of attitude vectors and flexible vibration interference of the flexible spacecraft, and completing solution of a gain matrix of the fine interference observer;
the following fine disturbance observer is designed based on the measurement information:
，
wherein,、/>and->Respectively representing attitude vectors of spacecraft>Modal displacement->And its first order time derivative +.>Component vector->Interfering with flexible vibration>Estimated value of ∈10->And->Respectively indicate->And->First order time derivative of (2)，/>Gain matrix representing fine disturbance observer, +.>Indicate the measurement output->Is a function of the estimated value of (2);
obtaining an estimated error dynamic of the fine disturbance observer according to the flexible spacecraft deep coupling attitude dynamic model and the fine disturbance observer; the method of pole allocation is adopted to make the characteristic value of the estimated error dynamic be negative, and the gain matrix of the fine interference observer is completedIs solved;
and 3, designing an output feedback gesture pointing controller based on the output information of the fine disturbance observer, so as to realize compensation of flexible vibration disturbance and suppression of environmental disturbance moment.
2. The method for controlling the output feedback attitude and pointing of the spacecraft in the flexible deep coupling dynamic state according to claim 1, wherein in the step 3, the design of the output feedback attitude and pointing controller comprises: control inputDesigned asThe method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Solving a gain matrix of the controller by a pole allocation method; output feedback gesture pointing controller pass +>Compensation of the flexural vibration disturbances is achieved by +.>And the inhibition of the environmental disturbance moment is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311635163.2A CN117406785B (en) | 2023-12-01 | 2023-12-01 | Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311635163.2A CN117406785B (en) | 2023-12-01 | 2023-12-01 | Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117406785A CN117406785A (en) | 2024-01-16 |
| CN117406785B true CN117406785B (en) | 2024-03-19 |
Family
ID=89490951
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311635163.2A Active CN117406785B (en) | 2023-12-01 | 2023-12-01 | Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117406785B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843244A (en) * | 2016-06-02 | 2016-08-10 | 北京航空航天大学 | Output feedback-based flexible spacecraft precise attitude control method |
| CN106020221A (en) * | 2016-05-30 | 2016-10-12 | 北京航空航天大学 | Interference-resistant gesture control verification platform and interference-resistant gesture control verification method based on output feedback |
| CN108628329A (en) * | 2018-03-19 | 2018-10-09 | 北京航空航天大学 | A kind of anti-interference attitude control method of spacecraft of TTC channel by replay attack |
| CN116804853A (en) * | 2023-08-25 | 2023-09-26 | 季华实验室 | Flexible spacecraft attitude control method and device, electronic equipment and storage medium |
-
2023
- 2023-12-01 CN CN202311635163.2A patent/CN117406785B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106020221A (en) * | 2016-05-30 | 2016-10-12 | 北京航空航天大学 | Interference-resistant gesture control verification platform and interference-resistant gesture control verification method based on output feedback |
| CN105843244A (en) * | 2016-06-02 | 2016-08-10 | 北京航空航天大学 | Output feedback-based flexible spacecraft precise attitude control method |
| CN108628329A (en) * | 2018-03-19 | 2018-10-09 | 北京航空航天大学 | A kind of anti-interference attitude control method of spacecraft of TTC channel by replay attack |
| CN116804853A (en) * | 2023-08-25 | 2023-09-26 | 季华实验室 | Flexible spacecraft attitude control method and device, electronic equipment and storage medium |
Non-Patent Citations (4)
| Title |
|---|
| Observer-Based Attitude Control for Flexible Spacecrafts Under Actuator Fault and Actuator Saturation;Yukai Zhu 等;2015 27th Chinese Control and Decision Conference (CCDC);20151231;508-513 * |
| 基于有模型振动干扰观测器的挠性航天器复合控制方法;李小凤 等;中国宇航学会深空探测技术专业委员会第九届学术年会论文集（中册）;20121029;76-81 * |
| 大型挠性结构航天器姿态精确指向控制;操宏磊 等;飞控与探测;20190930;第2卷(第5期);17-24 * |
| 柔性航天器在轨振动主动控制研究;李洋;中国博士学位论文全文数据库工程科技Ⅱ辑;20140415(第04期);C031-10 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117406785A (en) | 2024-01-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106773713B (en) | High-precision nonlinear path tracking control method for under-actuated marine vehicle | |
| CN107450588B (en) | A kind of strong disturbance rejection control method of Flexible Spacecraft control system | |
| Chen et al. | Anti-disturbance control of hypersonic flight vehicles with input saturation using disturbance observer | |
| CN106406086A (en) | Large flexible spacecraft interference compensation method based on sliding mode disturbance observer | |
| CN111324142B (en) | Disturbance compensation control method for missile pilot | |
| Yuan et al. | Active disturbance rejection control for the ranger neutral buoyancy vehicle: A delta operator approach | |
| Zhang et al. | Adaptive nonsingular terminal sliding mode control design for near space hypersonic vehicles | |
| CN115649491B (en) | Low orbit optical remote sensing satellite staring imaging control method suitable for multi-source interference | |
| CN102929283A (en) | Method for controlling reentry vehicle self-adapting optimal sliding mode attitude based on SDRE (state dependence matrix Riccati equation) | |
| Chen et al. | Nonlinear fault-tolerant control for hypersonic flight vehicle with multi-sensor faults | |
| Zhao et al. | Adaptive dynamic sliding mode control for near space vehicles under actuator faults | |
| CN117648000B (en) | Flexible liquid-filled satellite tight coupling anti-interference attitude control method | |
| Li et al. | Anti-disturbance control for attitude and altitude systems of the helicopter under random disturbances | |
| Ouda | A robust adaptive control approach to missile autopilot design | |
| Gao et al. | Immersion and invariance-based control of novel moving-mass flight vehicles | |
| CN117311377B (en) | Spacecraft fine attitude control method based on composite interference separation estimation | |
| Sheng et al. | Nonsingular finite-time second order sliding mode attitude control for reentry vehicle | |
| CN117406785B (en) | Spacecraft output feedback attitude pointing control method under flexible deep coupling dynamic state | |
| CN112149234B (en) | Aircraft particle motion model design method based on pitch angle rate input | |
| Meng et al. | Adaptive non‐singular fault‐tolerant control for hypersonic vehicle with unexpected centroid shift | |
| CN117022674A (en) | Anti-unwinding flexible spacecraft attitude tracking composite control method | |
| Ni et al. | Smooth second-order nonsingular terminal sliding mode control for reusable launch vehicles | |
| Singh | Flexible spacecraft maneuver: inverse attitude control and modal stabilization | |
| Shen et al. | An improved chattering-free sliding mode control with finite time convergence for reentry vehicle | |
| Raj et al. | Robust higher-order sliding mode control systems for roll-coupled maneuvers of aircraft using output feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |