Tethered Satellite Deployment by Fractional Order Sliding Mode Control



题目:Tethered Satellite Deployment by Fractional Order Sliding Mode Control
报告人:朱正宏教授(York University





Dr. Zheng H. Zhu received his B.Eng,M.Eng and Ph.Ddegrees in mechanics from Shanghai Jiao Tong University located in Shanghai, China. He also received his M.A.Sc in robot control from University of Waterloo and Ph.D in mechanical engineering from University of Toronto all located in Ontario, Canada.He is currently Professor and York Research Chair in Space Technology – Tier 1 at the Department of Mechanical Engineering, York University. His research interests include dynamics and control of tethered space system and space service robot for space debris removal. He is the author of over 200 articles and conference papers with 100+ published on peer-reviewed journals. He is the fellow of Engineering Institute of Canada, Fellow of ASME and CSME, Associate fellow of AIAA, senior member of IEEE, and licensed Professional Engineer in Ontario, Canada. Dr. Zhu is the Editor-in-chief of the International Journal of Space Science and Engineering.


A fractional order sliding mode control for the deployment of tethered space systems with the consideration of uncertainty of external disturbances and unmodeled system dynamics is studied. The proposed fractional order sliding mode control consists of two sub-sliding manifolds that are defined separately for the actuated and unactuated states. This, in turn, generates a control scheme to make all states move toward to the desired states. The stability analysis of the proposed control law indicates not only all states converge
 to the desired states at equilibrium but also disturbances caused by the uncertainty can be suppressed satisfactorily. Parametric studies are conducted to investigate the influences of fractional order and sub-sliding manifold of unactuated states on the performance of the proposed control law. The performance is compared with the sliding mode, PD and fractional order PD control laws for a baseline scenario of tether deployment. The proposed control law performs better than others in the settling time and the maximum pitch angle control in the presence of unwanted disturbances. Effectiveness and robustness of the proposed control law are demonstrated by computer simulations.