Nonlinear Attitude Control of Flexible Spacecraft with Scissored Pairs of Control Moment Gyros

Fan, Jixiang; Zhou, Di

doi:10.1109/pcspa.2010.179

Cited by 4 publications

(8 citation statements)

References 6 publications

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“…Consider the quadrotor attitude system described by (2)- (5) in the presence of external disturbance torque u , with application of the controller equation (27); suppose that the control gain 2 is chosen to satisfy…”

Section: Theoremmentioning

confidence: 99%

“…At time = 0, the initial attitude of the quadrotor is Θ(0) = [35 −45 18] deg, corresponding to the unit quaternion values q(0) = [0.3315 −0.3170 0.0242] ; the initial angular velocity is of (0) = [0 0 0] rad/sec. The control gains for the controller equation (27) are chosen as 1 = 0.02, 2 = 0.075, and 3 = 0.008. Moreover, attitude and angular velocity sensor noises ( 2 ): 0.0001(1 ) are modeled as zero-mean Gaussian random variables with variance 2 .…”

Section: Numerical Examplementioning

confidence: 99%

“…The proposed approach was able to achieve disturbance rejection in the fault-free condition and also able to recover some of performances when a fault occurred. To regulate the attitude angle of a quadrotor to the desired signals, an SMC-based attitude controller was proposed in [27]. In that approach, an adaptive estimator was incorporated, and the adaptive technique was used to estimate the upper bound of the virtual command.…”

Section: Introductionmentioning

confidence: 99%

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Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Huo

Karimi

2014

Mathematical Problems in Engineering

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The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

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Section: Theoremmentioning

confidence: 99%

Section: Numerical Examplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Huo

Karimi

2014

Mathematical Problems in Engineering

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“…As the output torque of an SGCMG changes when it works, in order to produce the control torque exclusively along the roll axis and not to interfere with the other two axes, one of the best manners is the adoption of a scissored pair of SGCMGs. [17][18][19][20][21] A scissored pair of SGCMGs features parallel gimbal axes and equalmagnitude and opposite-direction gimbal angles. The work by Brown and Peck 18,19 reveals that the configuration of a scissored pair can avoid the internal singularity by providing a constant-direction momentum vector, making the control design much simpler.…”

Section: Introductionmentioning

confidence: 99%

Attitude control of reentry vehicles in roll channel using single-gimbal control moment gyros and a reaction control system

Liu

2017

Advances in Mechanical Engineering

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A novel roll-channel attitude control scheme using a combination of single-gimbal control moment gyros and a reaction control system is proposed, providing sufficient control torque during the whole reentry process. A scissored-pair configuration is applied to the single-gimbal control moment gyros, which guarantees control torque exclusively along the roll axis and avoids internal singularity. A sliding-mode attitude controller is proposed to meet the requirements of rollchannel attitude stability and disturbance rejection. To obtain an optimal allocation of the commanded torque to the single-gimbal control moment gyros and the reaction control system, an allocation method based on fuzzy reasoning is proposed. To render the design and validation of the control scheme close to reality, the responsiveness of the singlegimbal control moment gyro is considered, and the discrete and delay properties of the reaction control system are included. The steering logic of the single-gimbal control moment gyro and the modulator of the reaction control system are designed, respectively. Numerical simulation is performed to verify the proposed control scheme. Moreover, a hardware-in-the-loop simulation system based on an air-bearing test bed is developed to conduct experiments for convincingly validating the proposed attitude control method. The feasibility and good performance of the proposed control scheme are verified by the results of the numerical simulation and the experiment.

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“…Tsiotras published a series of papers related to this problem [4,5], and Yoon and Tsiotras [4] extended their earlier IPAC developments to include actuation and energy storage with VSCMGs and designed a model-based controller to achieve exact attitude tracking with a perfect known spacecraft model. However, the mass moment of the inertia matrix must be precisely known, and many researchers simplify the model by assuming that the gimbals have zero inertia to facilitate the controller design [6].…”

Section: Introductionmentioning

confidence: 99%

Integrated Power and Attitude Control Design of Satellites Based on a Fuzzy Adaptive Disturbance Observer Using Variable-Speed Control Moment Gyros

Chu¹,

Cui²

2016

International Journal of Aerospace Engineering

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To satisfy the requirements for small satellites that seek agile slewing with peak power, this paper investigates integrated power and attitude control using variable-speed control moment gyros (VSCMGs) that consider the mass and inertia of gimbals and wheels. The paper also details the process for developing the controller by considering various environments in which the controller may be implemented. A fuzzy adaptive disturbance observer (FADO) is proposed to estimate and compensate for the effects of equivalent disturbances. The algorithms can simultaneously track attitude and power. The simulation results illustrate the effectiveness of the control approach, which exhibits an improvement of 80 percent compared with alternate approaches that do not employ a FADO.

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Nonlinear Attitude Control of Flexible Spacecraft with Scissored Pairs of Control Moment Gyros

Cited by 4 publications

References 6 publications

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

Attitude control of reentry vehicles in roll channel using single-gimbal control moment gyros and a reaction control system

Integrated Power and Attitude Control Design of Satellites Based on a Fuzzy Adaptive Disturbance Observer Using Variable-Speed Control Moment Gyros

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