Neural-Network-Based Adaptive Singularity-Free Fixed-Time Attitude Tracking Control for Spacecrafts.
Journal:
IEEE transactions on cybernetics
PMID:
33119520
Abstract
In this article, a neural-network-based adaptive fixed-time control scheme is proposed for the attitude tracking of uncertain rigid spacecrafts. A novel singularity-free fixed-time switching function is presented with the directly nonsingular property, and by introducing an auxiliary function to complete the switching function in the controller design process, the potential singularity problem caused by the inverse of the error-related matrix could be avoided. Then, an adaptive neural controller is developed to guarantee that the attitude tracking error and angular velocity error can both converge into the neighborhood of the equilibrium within a fixed time. With the proposed control scheme, no piecewise continuous functions are required any more in the controller design to avoid the singularity, and the fixed-time stability of the entire closed-loop system in the reaching phase and sliding phase is analyzed with a rigorous theoretical proof. Comparative simulations are given to show the effectiveness and superiority of the proposed scheme.