Characterizing the reachable set for a spacecraft with two rotors

Bayadi, Ramaprakash; Banavar, Ravi N.; Chang, Dong Eui

doi:10.1016/j.sysconle.2013.02.012

Cited by 7 publications

(5 citation statements)

References 17 publications

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“…This result is the same as the proposition 5.4 we presented in Bayadi et al (2012), however the analysis is simpler. Therefore the same result can be used to characterize the reachable set over T * SO(3) for the spacecraft.…”

Section: Controllability Analysissupporting

confidence: 85%

“…In this section, we carry out a global controllability analysis of a spacecraft with two rotors. We had done it earlier [Bayadi et al (2012)] using the Lagrange-Routh reduction approach which required us to first reduce the dynamics to J −1 (µ) G µ and then reconstruct the part on G µ . Here we show that using the form of dynamics derived in section 5, the controllability analysis can be carried out in a rather straightforward fashion.…”

Section: Application To a Spacecraft With Two Rotorsmentioning

confidence: 99%

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Weak positive Poisson stability and Hamiltonian vector fields in mechanical systems

Bayadi

Banavar

2012

IFAC Proceedings Volumes

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Section: Controllability Analysissupporting

confidence: 85%

Section: Application To a Spacecraft With Two Rotorsmentioning

confidence: 99%

Weak positive Poisson stability and Hamiltonian vector fields in mechanical systems

Bayadi

Banavar

2012

IFAC Proceedings Volumes

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“…The set Φ i is generally called a basin of attraction (Lhommeau et al, 2011) or a reachable set (Bayadi et al, 2013). It follows from uniqueness of solution of initial value problem in (21) that the reachable set in (23) satisfies,…”

Section: Classifier Cmentioning

confidence: 99%

Artificial wrestling: A dynamical formulation of autonomous agents fighting in a coupled inverted pendula framework

Yoshida

Matsumoto

Matsue

2015

Mechanical Engineering Journal

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We develop autonomous agents that fight with each other, inspired by human wrestling. For this purpose, we propose a coupled inverted pendula (CIP) framework in which: (a) the tips of two inverted pendula are linked by a connecting rod, (b) each pendulum is primarily stabilized by a proportional-derivative (PD) controller, (c) and each is additionally equipped with an intelligent controller. Based on this framework, we dynamically formulate an intelligent controller designed to store dynamical correspondence from initial states to final states of the CIP model, to receive state vectors of the model, and to output impulsive control forces to produce the desired final states of the model. By developing a quantized and reduced-order design for this controller, we obtain a practical control procedure based on an off-line learning method. We then conduct numerical simulations to investigate the individual performance of the intelligent controller, and we show that the performance can be improved by adding a delay element. The results show that the performance depends not only on the quantization resolution of the learning data but also on the delay time of the introduced element. Finally, we install the intelligent controllers into both pendula in the proposed framework in order to demonstrate autonomous competitive behavior between inverted pendula.

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“…θ b,accel is the angle about an axis computed via the inverse tangent of the accelerometer readings from the other two axes, shown in Eq. (13). α is a weighting factor that determines which signal the complimentary filter follows closer.…”

Section: F Complementary Filter Designmentioning

confidence: 99%

“…3D reaction wheel configurations 11 and three axis control via two reaction wheels are some of the recent research efforts. [12][13][14] Various configurations with four reaction wheels have also been investigated for lowest energy consumption. 15 Inverted pendulums have been developed to study control algorithms and strategies.…”

Section: Introductionmentioning

confidence: 99%

Preliminary Design and Prototyping of a Low-Cost Spacecraft Attitude Determination and Control Setup

Gong

Turkoglu

2015

AIAA Guidance, Navigation, and Control Conference

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In current literature, various ground-based spacecraft attitude determination and control setups are employed to test control strategies and algorithms. However, they typically require relatively large amounts of clearance for rotation and are prohibitively expensive for academic/research use. In this paper, we outline the development of a 1-D prototype that aims to serve as a low-cost alternative. The goal is to develop an open-source, low-cost platform at minimal cost. The prototype consists of an aluminum wheel driven by a brushless DC motor mounted to a plate that is allowed to pivot about a hinge. The prototype has the ability to transfer angular momentum between the wheel and the body as well as balance using reaction torques. PID and LQR controllers for the prototype have been designed to achieve minimal control effort. Preliminary results demonstrate that the LQR is able to achieve energy savings of ∼8% over the baseline PID controller with acceptable tradeoffs. Experimental results show that a LQR augmented with integral action is able to reject disturbances and successfully balance. The 1-D prototype remains low-cost at $480. NomenclatureC dynamic friction coefficient g gravitational acceleration h angular momentum I moment of inertia K m motor torque constant l distance from pivot point m mass T torque u input current θ angle or positioṅ θ angular velocitÿ θ angular acceleration ( ) b body-related parameter ( ) w wheel/rotor assembly-related parameter

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Characterizing the reachable set for a spacecraft with two rotors

Cited by 7 publications

References 17 publications

Weak positive Poisson stability and Hamiltonian vector fields in mechanical systems

Weak positive Poisson stability and Hamiltonian vector fields in mechanical systems

Artificial wrestling: A dynamical formulation of autonomous agents fighting in a coupled inverted pendula framework

Preliminary Design and Prototyping of a Low-Cost Spacecraft Attitude Determination and Control Setup

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