Passivity-based adaptive attitude control of a rigid spacecraft

Egeland, Olav; Godhavn, John–Morten

doi:10.1109/9.286266

Cited by 247 publications

(148 citation statements)

References 10 publications

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“…The corresponding velocity error in body-coordinates is e;L , ? r : (6.4) This is a common choice, see for example (Egeland and Godhavn 1994), however it comes with some constraints on the design of , as we show below. Other choices of transport map are possible.…”

Section: Error Functions and Transport Mapsmentioning

confidence: 99%

Trajectory tracking for fully actuated mechanical systems

Bullo

Murray

1997

1997 European Control Conference (ECC)

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This paper presents a general framework for the control of mechanical systems with as many inputs as degrees of freedom. The notions of error function and transport map are introduced to properly de ne a con guration and a velocity error. These are the crucial ingredients in designing a proportional derivative feedback and feedforward control. The proposed approach includes various results on control of manipulators, autonomous vehicles and pointing devices.

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Section: Error Functions and Transport Mapsmentioning

confidence: 99%

Trajectory tracking for fully actuated mechanical systems

Bullo

Murray

1997

1997 European Control Conference (ECC)

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“…6,10,12,31 We treat the PD law here for comparison to the new control laws developed in the next two sections. There are also some novel aspects to our stability proof.…”

Section: Pd Control Of the Nonlinear Systemmentioning

confidence: 99%

“…The resulting closed-loop dynamics are either partially or completely linearized, in the absence of control saturation and modeling error. The second feedback 6,11,12 is a linear PD law; the gyroscopic torque is not canceled. From an energy perspective, it is clear that the gyroscopic torque is a neutral party in the stabilization task and in this regard does not need to be canceled.…”

Section: Introductionmentioning

confidence: 99%

Geometry and Inverse Optimality in Global Attitude Stabilization

Bharadwaj

Osipchuk

Mease

et al. 1998

Journal of Guidance, Control, and Dynamics

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The problem of globally stabilizing the attitude of a rigid body is considered. Topological and geometric properties of the space of rotations relevant to the stabilization problem, are discussed. Chevalley's exponential coordinates for a Lie group are used to represent points in this space. An appropriate attitude error is formulated and used for control design. A control Lyapunov function approach is used to design globally stabilizing feedback l a ws that have desirable optimality properties. Their performance is compared to the performance of previously developed proportional-derivative t ype control laws. The new control laws achieve the same or greater stabilization rate with less control e ort. Special issues in the Lyapunov stability proofs due to the topology of the space of rotations are identi ed and resolved.

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“…The controller is a certaintyequivalence version of the standard passivity-based adaptive attitude regulator of [10], where state-feedback is replaced by feedback from the estimated angular velocity, and a robust redesign of the update law is employed. While it is customary to retain the original coordinates of the plant for stability analysis, for the problem at issue it is more advantageous to perform the analysis entirely in the observer coordinate system, and regard the observation error as a converging disturbance.…”

Section: Tracking Controllermentioning

confidence: 99%

Attitude tracking with adaptive rejection of rate gyro disturbances

Pisu

Serrani

2008

2008 American Control Conference

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Abstract-The classical attitude control problem for a rigid body is revisited under the assumption that measurements of the angular rates obtained by means of rate gyros are corrupted by harmonic disturbances, a setup of importance in several aerospace applications. The paper extends previous methods developed to compensate bias in angular rate measurements by accounting for a more general class of disturbances, and by allowing uncertainty in the inertial parameters. By resorting to adaptive observers designed on the basis of the internal model principle, it is shown how converging estimates of the angular velocity can be obtained, and used effectively in a passivity-based certainty-equivalence controller yielding global convergence within the chosen parametrization of the group of rotations. Since a persistence of excitation condition is not required for the convergence of the state estimates, only an upper bound on the number of distinct harmonic components of the disturbance is needed for the applicability of the method. I. PROBLEM DEFINITIONConsider the rotational dynamics of a rigid bodẏwith state (R, ω) ∈ SO(3) × R 3 , representing the orientation and angular velocity of a body-fixed frame with respect to an inertial frame, and control input u ∈ R 3 . The matrix S(·) denotes the skew-symmetric operator S(v)w := v×w, where v, w ∈ R 3 . The inertia matrix J(µ) ∈ R 3×3 is assumed to depend continuously on a vector of unknown parameters µ ranging over a given compact setfor the orientation and angular velocity of the body-fixed frame of (1) is provided by a smooth autonomous system of the form̟with state of importance in aerospace applications [1], and greatly simplify the analysis. The rotation matrix for the attitude error R e := R T d R ∈ SO(3) satisfies the kinematic equatioṅ R e = R e S(ω e ), where ω e := ω−R e T ω d denotes the angular velocity error resolved in the body frame.The classic attitude control problem [2] is loosely defined as that of finding a feedback control law such that all trajectories of the closed-loop system are bounded, and the tracking error satisfies (R e (t), ω e (t)) → (I 3 , 0) as t → ∞, for any given reference trajectory in the considered family of solutions of (2), and for all µ ∈ K µ . In this paper, the problem in question is revisited under the assumption that measurements of the rotation matrix R(t) are available, while measurements of ω(t) obtained by means of rate gyros are corrupted by additive harmonic noise. The considered setup arises frequently in the control of aerospace vehicles with significant aeroelastic effects [3], where structural vibrations are transmitted to the rate gyros through the coupling with the airframe, or in the attitude control of rigid of flexible satellites, where harmonic disturbance in the angular velocity measurements are produced by imbalance or mechanical defects in gyroscopes [4]- [6]. Dealing with uncertainties on the natural frequencies is a fundamental issue in applications to control of hypersonic vehicles, where the vibrational mo...

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Passivity-based adaptive attitude control of a rigid spacecraft

Cited by 247 publications

References 10 publications

Trajectory tracking for fully actuated mechanical systems

Trajectory tracking for fully actuated mechanical systems

Geometry and Inverse Optimality in Global Attitude Stabilization

Attitude tracking with adaptive rejection of rate gyro disturbances

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