Scholarlink

<p>Driven by the spacecraft payload’s requirement for high-precision, small-angle attitude pointing and in order to overcome the limitations of existing algorithms where the convergence time depends on initial conditions, this paper applies the predefined-time stability theory to the attitude control of an onboard Gough–Stewart (G–S) platform. First, the kinematic and dynamic models tailored for small-angle maneuvers are established. Then, to enhance both the speed and certainty of attitude stabilization, a cascaded control architecture is proposed. In this architecture, a sliding-mode controller based on the predefined-time criterion is designed for the outer attitude loop to explicitly prescribe the settling time, while a sliding-mode controller is employed for the inner leg-position loop to ensure precise actuator tracking. Theoretically, the Lyapunov stability analysis rigorously proves that the attitude tracking error converges to a neighborhood of the origin within a user-defined time (<InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(T_c\)</EquationSource> <EquationSource Format="MATHML"><math> <msub> <mi>T</mi> <mi>c</mi> </msub> </math></EquationSource> </InlineEquation>), independent of any initial states. Numerically, simulations demonstrate that the proposed method maintains a steady-state pointing accuracy on the order of <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(10^{-7}\)</EquationSource> <EquationSource Format="MATHML"><math> <msup> <mn>10</mn> <mrow> <mo>-</mo> <mn>7</mn> </mrow> </msup> </math></EquationSource> </InlineEquation> deg and exhibits superior robustness against micro-vibrations compared to PSO-optimized PID and sliding-mode controllers.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Predefined-time control of parallel platforms for small-angle attitude pointing

  • 期刊论文

  • 发表日期：

    2026年4月7日

查看全文
  • Xiang Fu,
  • Jie Tang,
  • Qiang Min,
  • Ke Sun,
  • Yinghui Li,
  • Huatao Chen,
  • Dengqing Cao

摘要

Driven by the spacecraft payload’s requirement for high-precision, small-angle attitude pointing and in order to overcome the limitations of existing algorithms where the convergence time depends on initial conditions, this paper applies the predefined-time stability theory to the attitude control of an onboard Gough–Stewart (G–S) platform. First, the kinematic and dynamic models tailored for small-angle maneuvers are established. Then, to enhance both the speed and certainty of attitude stabilization, a cascaded control architecture is proposed. In this architecture, a sliding-mode controller based on the predefined-time criterion is designed for the outer attitude loop to explicitly prescribe the settling time, while a sliding-mode controller is employed for the inner leg-position loop to ensure precise actuator tracking. Theoretically, the Lyapunov stability analysis rigorously proves that the attitude tracking error converges to a neighborhood of the origin within a user-defined time ( \(T_c\) T c ), independent of any initial states. Numerically, simulations demonstrate that the proposed method maintains a steady-state pointing accuracy on the order of \(10^{-7}\) 10 - 7 deg and exhibits superior robustness against micro-vibrations compared to PSO-optimized PID and sliding-mode controllers.