Attitude control of a rigid spacecraft with one variable-speed control moment gyro

Gui, Haichao; Jin, Lei; Xu, Shengyuan

doi:10.1007/s10409-013-0067-5

Cited by 11 publications

(3 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…19 The GDI control design methodology has been applied to several aerospace control engineering problems. 17,18,[20][21][22][23] The GDI control methodology is rooted in analytical mechanics, and it was inspired by the Udwadia-Kalaba equations of motion. 24 It allows for two cooperating controllers that act on two orthogonally complement control spaces: one is the particular controller that realizes the dynamic constraints, and the other is the auxiliary controller that is affine in the null control vector, and is utilized in this article to enforce global inner closed-loop stability.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust generalized dynamic inversion based control of autonomous underwater vehicles

Ansari

Bajodah

2017

Proceedings of the Institution of Mechanical Engineers, Part M:

View full text Add to dashboard Cite

A novel two-loop structured robust generalized dynamic inversion-based control system is proposed for autonomous underwater vehicles. The outer (position) loop of the generalized dynamic inversion control system utilizes proportional-derivative control of the autonomous underwater vehicle's inertial position errors from the desired inertial position trajectories, and it provides the reference yaw and pitch attitude angle commands to the inner loop. The inner (attitude) loop utilizes generalized dynamic inversion control of a prescribed asymptotically stable dynamics of the attitude angle errors from their reference values, and it provides the required control surface deflections such that the desired inertial position trajectories of the vehicle are tracked. The dynamic inversion singularity is avoided by augmenting a dynamic scaling factor within the Moore-Penrose generalized inverse in the particular part of the generalized dynamic inversion control law. The involved null control vector in the auxiliary part of the generalized dynamic inversion control law is constructed to be linear in the pitch and yaw angular velocities, and the proportionality gain matrix is designed to guarantee global closed-loop asymptotic stability of the vehicle's angular velocity dynamics. An additional sliding mode control element is included in the particular part of the generalized dynamic inversion control system, and it works to robustify the closed-loop system against tracking performance deterioration due to generalized inversion scaling, such that semi-global practically stable attitude tracking is guaranteed. A detailed six degrees-of-freedom mathematical model of the Monterey Bay Aquarium Research Institute autonomous underwater vehicle is used to evaluate the control system design, and numerical simulations are conducted to demonstrate closed-loop system performance under various types of autonomous underwater vehicle maneuvers, under both nominal and perturbed autonomous underwater vehicle system's mathematical model parameters.

show abstract

Section: Introductionmentioning

confidence: 99%

“…19 The GDI control design methodology has been applied to several aerospace control engineering problems. 17,18,20–23…”

Section: Introductionmentioning

confidence: 99%

Robust generalized dynamic inversion based control of autonomous underwater vehicles

Ansari

Bajodah

2017

Proceedings of the Institution of Mechanical Engineers, Part M:

View full text Add to dashboard Cite

show abstract

“…By virtue of this design, the simplifying tactics that are often essential to derive the inverse dynamics in classical DI were relaxed. This control design technique has been an effective tool for several aerospace engineering control applications (Bajodah, 2009a; Bajodah, 2009b; Hall et al , 2010; Bajodah, 2010; Hameduddin and Bajodah, 2012; Gui et al , 2013a, 2013b).…”

Section: Introductionmentioning

confidence: 99%

Robust launch vehicle’s generalized dynamic inversion attitude control

Ansari

Bajodah

2017

AEAT

View full text Add to dashboard Cite

Purpose To design a robust attitude control system for the ascent flight phase of satellite launch vehicles (SLVs). Design/methodology/approach The autopilot is based on generalized dynamic inversion (GDI). Dynamic constraints are prescribed in the form of differential equations that encapsulate the control objectives, and are generalized inverted using the Moore-Penrose Generalized Inverse (MPGI) based Greville formula to obtain the control law. The MPGI is modified via a dynamic scaling factor for assuring generalized inversion singularity-robust tracking control. An additional sliding mode control (SMC) loop is augmented to robustify the GDI closed-loop system against model uncertainties and external disturbances. Findings The robust GDI control law allows for two cooperating controllers that act on two orthogonally complement control spaces: one is the particular controller that realizes the dynamic constraints, and the other is the auxiliary controller that is affined in the null control vector, and is used to enforce global closed-loop stability. Practical implications Orthogonality of the particular and the auxiliary control subspaces ensures noninterference of the two control actions, and thus, it ensures that both actions work toward a unified goal. The robust control loop increases practicality of the GDI control design. Originality/value The first successful implementation of GDI to the SLV control problem.

show abstract

Development and experimental investigation of a Quadrotor’s robust generalized dynamic inversion control system

2019

View full text Add to dashboard Cite

Attitude control of a rigid spacecraft with one variable-speed control moment gyro

Cited by 11 publications

References 30 publications

Robust generalized dynamic inversion based control of autonomous underwater vehicles

Robust generalized dynamic inversion based control of autonomous underwater vehicles

Robust launch vehicle’s generalized dynamic inversion attitude control

Development and experimental investigation of a Quadrotor’s robust generalized dynamic inversion control system

Contact Info

Product

Resources

About