Adaptive Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Matrix Identification

Ahmed, Jasim; Coppola, Vincent T.; Bernstein, Dennis S.

doi:10.2514/2.4310

Cited by 319 publications

(48 citation statements)

References 9 publications

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“…It can be shown that the product of the spacecraft moment of inertia matrix with a vector a ¼ ½a 1 ; a 2 ; a 3 T can be written as [48] J j a ¼ OðaÞH j and H j ¼ J 11;j J 22;j J 33;j J 23;j J 13;j J 12;j ½ T . Consequently, we obtain…”

Section: Simulation Resultsmentioning

confidence: 99%

Cooperative Optimal Synchronization of Networked Uncertain Nonlinear Euler–Lagrange Heterogeneous Multi-Agent Systems With Switching Topologies

Mehrabian

Khorasani

2014

Journal of Dynamic Systems, Measurement, and Control

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This paper is concerned with design of distributed optimal synchronization control strategies for a class of networked nonlinear heterogeneous multi-agent (HMA) systems whose dynamics are governed by Euler-Lagrange (EL) equations. We employ optimal control techniques to design synchronization (consensus seeking) and set-point regulation controllers for HMA systems through optimization of individual cost functions. We introduce an analytical solution to the optimization problem and show that the developed optimal control laws can manage switchings in the communication network topology. Additionally, we propose two control strategies (namely, adaptive and robust) to modify and generalize the developed optimal control laws in presence of parametric uncertainties in the HMA systems. Simulation results for the attitude synchronization control of a network of eight spacecraft are presented to demonstrate the effectiveness and capabilities of our proposed control algorithms.

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Section: Simulation Resultsmentioning

confidence: 99%

Cooperative Optimal Synchronization of Networked Uncertain Nonlinear Euler–Lagrange Heterogeneous Multi-Agent Systems With Switching Topologies

Mehrabian

Khorasani

2014

Journal of Dynamic Systems, Measurement, and Control

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“…The nonlinear differential equations that govern the kinematics and kinetics of the rigid satellite in terms of quaternion are described as follows [3]:…”

Section: Spacecraft Attitude Dynamics and Problem Formulationmentioning

confidence: 99%

“…Thus, this can introduce large quantization errors of attitude control torque that impinge on attitude control performance, due to the low resolution of the transmitted data. Although there are rich results on spacecraft attitude control in the literature, such as adaptive control [3,4], optimal control [5], sliding-mode control [6][7][8], iterative learning control [9], etc., there is still no result available that considers the quantization errors of the attitude control torque. It is reasonable to neglect the quantization errors if the quantization resolution is high.…”

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confidence: 99%

Spacecraft Attitude Control with Input Quantization

2016

Journal of Guidance, Control, and Dynamics

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“…Stabilization of rigid body attitude motion has been extensively studied under various assumptions on the dynamics model, actuation, and using various attitude parameterizations. Attitude control of a rigid body has also been a benchmark problem in nonlinear control; a sample of the literature in this area can be found in [1][2][3][4][5]. Applications of attitude control and stabilization occur in control of aerial and underwater vehicles, robotic ground vehicles, and spacecraft.…”

Section: Introductionmentioning

confidence: 99%

Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices

Bohn

Sanyal

2015

Int. J. Robust. Nonlinear Control

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Summary This work considers continuous finite‐time stabilization of rigid body attitude dynamics using a coordinate‐free representation of attitude on the Lie group of rigid body rotations in three dimensions, SO(3). Using a Hölder continuous Morse–Lyapunov function, a finite‐time feedback stabilization scheme for rigid body attitude motion to a desired attitude with continuous state feedback is obtained. Attitude feedback control with finite‐time convergence has been considered in the past using the unit quaternion representation. However, it is known that the unit quaternion representation of attitude is ambiguous, with two antipodal unit quaternions representing a single rigid body attitude. Continuous feedback control using unit quaternions may therefore lead to the unstable unwinding phenomenon if this ambiguity is not resolved in the control design, and this has adverse effects on actuators, settling time, and control effort expended. The feedback control law designed here leads to almost global finite‐time stabilization of the attitude motion of a rigid body with Hölder continuous feedback to the desired attitude. As a result, this control scheme avoids chattering in the presence of measurement noise, does not excite unmodeled high‐frequency structural dynamics, and can be implemented with actuators that can only provide continuous control inputs. Numerical simulation results for a spacecraft in low Earth orbit, obtained using a Lie group variational integrator, confirm the theoretically obtained stability and robustness properties of this attitude feedback stabilization scheme. Copyright © 2015 John Wiley & Sons, Ltd.

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Adaptive Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Matrix Identification

Cited by 319 publications

References 9 publications

Cooperative Optimal Synchronization of Networked Uncertain Nonlinear Euler–Lagrange Heterogeneous Multi-Agent Systems With Switching Topologies

Cooperative Optimal Synchronization of Networked Uncertain Nonlinear Euler–Lagrange Heterogeneous Multi-Agent Systems With Switching Topologies

Spacecraft Attitude Control with Input Quantization

Almost global finite-time stabilization of rigid body attitude dynamics using rotation matrices

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