Optimal Nonlinear Tracking of Spacecraft Attitude Maneuvers

Sharma, Rajnish; Tewari, Ashish

doi:10.1109/tcst.2004.825060

Cited by 144 publications

(50 citation statements)

References 10 publications

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“…It is further shown in Theorem 1 that the system state can reach the equilibrium point [e 0 , e T ] = [1,0] in finite time t F1 . Therefore for any initial state Q(0) and ω(0), the desired attitude trajectory can be followed in finite time t F , that is, e(t) ≡ 0, e 0 (t) ≡ 1 and ω e (t) ≡ 0 for all times t ≥ t F .…”

Section: Attitude Compensation Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Finite‐time fault tolerant attitude control for over‐activated spacecraft subject to actuator misalignment and faults

Zhang

Friswell

2013

IET Control Theory & Applications

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A finite-time attitude compensation control scheme is developed for an over-activated rigid spacecraft subject to actuator faults, misalignment, external disturbances and uncertain inertia parameters. The controller is synthesised based on the sliding mode control theory, and guarantees the finite-time reachability of the system states. A sufficient condition for the controller to accommodate misalignment and faults of actuator is presented. An optimised control allocation algorithm based on the Karush-Kuhn-Tucker condition is then applied to distribute the commanded control to each actuator, and optimise the consumption of energy. Numerical simulation results are presented that highlight the performance benefits of the control law.

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Section: Attitude Compensation Controller Designmentioning

confidence: 99%

“…However, the attitude control performance is affected by external disturbances, an unknown inertia matrix and actuator misalignment because of manufacturing tolerances and vibration during launch. To achieve high-accuracy attitude control, many non-linear control theory inspired approaches have been developed [1][2][3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Finite‐time fault tolerant attitude control for over‐activated spacecraft subject to actuator misalignment and faults

Zhang

Friswell

2013

IET Control Theory & Applications

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“…Theorem 1. For the spacecraft attitude control system (1)(2)(3)(4), the proposed control (23) can ensure that the attitude states q and can achieve the respective nearest equilibrium in spite of external disturbance and inertia uncertainty presence.…”

Section: Closed-loop Stabilitymentioning

confidence: 99%

Spacecraft Anti‐Unwinding Attitude Control Using Second‐Order Sliding Mode

Tiwari

Janardhanan

un-Nabi

2017

Asian Journal of Control

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This paper presents an anti-unwinding control method for the attitude stabilization of a rigid spacecraft. Quaternion has double stable equilibrium and this may cause unwinding problems in spacecraft attitude control if both the equilibria are not considered in control design. Here, the initial condition of scalar quaternion is included in sliding surface and an anti-unwinding control method is formulated in second-order sliding mode. The presented second-order sliding mode controller can alleviate chattering and ensure a smooth control for actuator. Further, to eliminate the need of advance information about bounds of uncertainty and external disturbance, adaptive laws are applied to estimate the controller gains. The closed-loop stability is proved using the Lyapunov stability theory. In conclusion, a simulation is conducted in the presence of inertia uncertainty and external disturbances and it is found that the presented control method is efficient to negate the effect of inertia uncertainty and external disturbances, alleviate chattering, eliminate unwinding, and ensure high accuracy and steady state precision. P. M. Tiwari received his M.Tech and PhD in Control Engineering from Aligarh Muslim University Aligarh and Indian Institute of Technology Delhi in 2005 and 2016, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Amity University Uttar Pradesh Noida. His research interests include sliding mode control, adaptive control, attitude control, and process control. S. Janardhanan received his M.Tech and PhD in Systems and Control Engineering from Indian Institute of Technology Bombay in 2002 and 2006, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Indian Institute of Technology Delhi. He has over 100 publications in journals and conferences of international repute to his credit. His research interests include discrete-time systems, model order reduction, sliding mode control and robotics. M. Un-Nabi received his M.Tech and PhD in Control Engineering from Indian Institute of Technology Kanpur and Indian Institute of Technology Mumbai in 2003 and 2005, respectively. Currently, he is a faculty with the Department of Electrical Engineering, Indian Institute of Technology Delhi. He has around 60 publications in journals and conferences of international repute to his credit. His research interests include model order reduction, guidance and control, and sliding mode control.

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“…Spacecraft control is an inherently nonlinear problem whose natural state space involves the special orthogonal group of 3 × 3 rotation matrices, that is, SO (3). Although linear controllers can be used for maneuvers over small angles, the desire for minimum-fuel or minimum-time operation suggests that control systems that are tuned for operation on SO(3) are advantageous for large-angle maneuvers [2,3].…”

Section: Introductionmentioning

confidence: 99%

“…Although linear controllers can be used for maneuvers over small angles, the desire for minimum-fuel or minimum-time operation suggests that control systems that are tuned for operation on SO(3) are advantageous for large-angle maneuvers [2,3]. However, the compactness of SO(3) presents difficulties with regard to global asymptotic stabilization, that is, Lyapunov stability of a desired equilibrium along with global convergence.…”

Section: Introductionmentioning

confidence: 99%

Inertia-free spacecraft attitude trajectory tracking with internal-model-based disturbance rejection and almost global stabilization

Sanyal

Fosbury

Chaturvedi

et al. 2009

2009 American Control Conference

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We derive a continuous nonlinear control law for spacecraft attitude trajectory tracking of arbitrary C 1 attitude trajectories based on rotation matrices. This formulation provides almost global stabilizability, that is, Lyapunov stability of the desired equilibrium of the error system as well as convergence from all initial states except for a subset whose complement is open and dense. This controller thus overcomes the unwinding phenomenon associated with continuous controllers based on attitude representations, such as quaternions, that are not bijective. The controller requires no inertia information and no information on constant disturbance torques. For slew maneuvers, that is, maneuvers with a setpoint command, in the absence of disturbances, the controller specializes to the continuous, nonlinear PD-type almost globally stabilizing controller of Chaturvedi, in which case the torque inputs can be arbitrarily bounded a priori.

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Optimal Nonlinear Tracking of Spacecraft Attitude Maneuvers

Cited by 144 publications

References 10 publications

Finite‐time fault tolerant attitude control for over‐activated spacecraft subject to actuator misalignment and faults

Finite‐time fault tolerant attitude control for over‐activated spacecraft subject to actuator misalignment and faults

Spacecraft Anti‐Unwinding Attitude Control Using Second‐Order Sliding Mode

Inertia-free spacecraft attitude trajectory tracking with internal-model-based disturbance rejection and almost global stabilization

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