Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based control

Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy

doi:10.1016/j.automatica.2008.04.019

Cited by 212 publications

(75 citation statements)

References 9 publications

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“…Mathematically, this is tantamount to assuming that one of the quaternion states does not change sign. In Kristiansen et al (2008) the authors proposes a controller which steers a spacecraft to the equilibrium point closest to the initial posture. However, the shortest-path rotation is not necessarily optimal in terms of use of input "energy" -for instance, fuel consumption in the context of spacecraft control, if initial velocities are relatively high and in direction opposite to the desired rotation.…”

Section: Introductionmentioning

confidence: 99%

On the stability and stabilization of quaternion equilibria of rigid bodies

2012

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We study attitude control of rigid bodies on quaternion coordinates under three mathematically different perspectives, depending on how the system dynamics are assumed to evolve. In the first case, we suppose that one equilibrium point is chosen a priori and a continuous controller is used under the assumption that the rigid body always spins in the same direction. In the second case, we relax the assumption that the sense of rotation is constant. Finally, a third scenario is considered in which hybrid (switching) control is used to choose the direction in which to spin, that is, both equilibria are continuously considered with regard to less energy consumption. It is showed that each of three scenarios must be treated in a different theoretical setting. A comparative study in simulations is also provided.

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Section: Introductionmentioning

confidence: 99%

On the stability and stabilization of quaternion equilibria of rigid bodies

2012

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“…[8], [52], [53]). This model is sufficiently good that it can be used in this paper to design optimal position and attitude control for spacecraft.…”

Section: Error-based Spacecraft Motion Equationsmentioning

confidence: 99%

Robust optimal sliding mode control for spacecraft position and attitude maneuvers

Pukdeboon

Kumam

2015

Aerospace Science and Technology

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“…Among them, studies on passivity-based control [1][2][3][4][5][6][7][8][9][10][11][12] appear to be the most promising because this control method is simple to implement and robustly stable against physical parameter uncertainties. In the same framework, attitude tracking using a proportionalderivative (PD)-type state feedback controller having positive scalar gains has been proposed 1,[4][5][6][7][8][9] and extended to backstepping control. 13,14) However, these passivity-based control methods ensure only asymptotic stability of the relative attitude under a disturbance-free environment.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Tracking Control of Rigid Spacecraft under Disturbance using PID-type <i>H</i><sub>∞</sub> Adaptive State Feedback

Ikeda

Kida

Nagashio

2015

Trans. Japan Soc. Aero. S Sci.

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Future space programs will require an agile relative position and attitude control technology for spacecraft. Rendezvous and docking, capture of inoperative spacecraft and formation flight in orbit are the typical scenarios. One of the key technologies is designing the tracking controllers that can control the six degrees-of-freedom (d.o.f.) of spacecraft under the influence of physical parameter uncertainties and external disturbances. To achieve agility, the controller design must be formulated as nonlinear control problems where translational and rotational motions are dynamically coupled with each other. This paper proposes a tracking controller, proportional-integral-derivative (PID)-type H¨adaptive state feedback controller, that can attenuate disturbances. The proposed controller has positive definite gain matrices whose conditions to be satisfied are given by linear matrix inequalities. The properties of the proposed controller were evaluated through numerical studies and compared with those of existing controllers.

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Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based control

Cited by 212 publications

References 9 publications

On the stability and stabilization of quaternion equilibria of rigid bodies

On the stability and stabilization of quaternion equilibria of rigid bodies

Robust optimal sliding mode control for spacecraft position and attitude maneuvers

Nonlinear Tracking Control of Rigid Spacecraft under Disturbance using PID-type <i>H</i><sub>∞</sub> Adaptive State Feedback

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Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based control

Cited by 212 publications

References 9 publications

On the stability and stabilization of quaternion equilibria of rigid bodies

On the stability and stabilization of quaternion equilibria of rigid bodies

Robust optimal sliding mode control for spacecraft position and attitude maneuvers

Nonlinear Tracking Control of Rigid Spacecraft under Disturbance using PID-type <i>H</i><sub>&infin;</sub> Adaptive State Feedback

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Product

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Nonlinear Tracking Control of Rigid Spacecraft under Disturbance using PID-type <i>H</i><sub>∞</sub> Adaptive State Feedback