Attitude Determination and Estimation.- Matrices, Vectors, Frames, Transforms.- Rotational Kinematics and Dynamics.- Sensors and Actuators.- Static Attitude Determination Methods.- Filtering for Attitude Determination.- Attitude Control.

Fundamentals of Spacecraft Attitude Determination and Control

This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the Lagrangian form, is the use of the distributed stability and performance analysis tool, called contraction analysis that yields exact nonlinear stability proofs. The proposed decentralized tracking control law synchronizes the attitude of an arbitrary number of spacecraft into a common time-varying trajectory with global exponential convergence. Moreover, a decentralized translational tracking control law based on phase synchronization is presented, thus enabling coupled translational and rotational maneuvers. While the translational dynamics can be adequately controlled by linear control laws, the proposed method permits highly nonlinear systems with nonlinearly coupled inertia matrices such as the attitude dynamics of spacecraft whose large and rapid slew maneuvers justify the nonlinear control approach. The proposed method integrates both the trajectory tracking and synchronization problems in a single control framework.

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Application of Synchronization to Formation Flying Spacecraft: Lagrangian Approach

This paper presents a strategy and case studies of spacecraft relative motion guidance and control based on the application of linear quadratic model predictive control (MPC) with dynamically reconfigurable constraints. The controller is designed to transition between the MPC guidance during a spacecraft rendezvous phase and MPC guidance during a spacecraft docking phase, with each phase having distinct requirements, constraints, and sampling rates. Obstacle avoidance is considered in the rendezvous phase, while a line-of-sight cone constraint, bandwidth constraints on the spacecraft attitude control system, and exhaust plume direction constraints are addressed during the docking phase. The MPC controller is demonstrated in simulation studies using a nonlinear model of spacecraft orbital motion. The implementation uses estimates of spacecraft states derived from relative angle and range measurements, and is robust to estimator dynamics and measurement noise.

Model Predictive Control for Spacecraft Rendezvous and Docking: Strategies for Handling Constraints and Case Studies

This paper addresses the finite-time fault-tolerant attitude stabilization control problem for a rigid spacecraft in the presence of actuator faults or failures, external disturbances, and modeling uncertainties. First, a basic fault-tolerant controller is proposed to accommodate actuator faults or failures and guarantee local finite-time stability. When there is no a priori knowledge of actuator faults, disturbances, and inertia uncertainties, an online adaptive law is proposed to estimate the bounds of these uncertainties, and local finite-time convergence is achieved by an adaptive fault-tolerant controller. In addition, another adaptive fault-tolerant control scheme is derived that explicitly takes into account the actuator saturation. The proposed attitude controller provides fault-tolerant capability despite control input saturation and ensures that attitude and angular velocity converge to a neighborhood of the origin in finite time. Finally, simulation studies are presented to demonstrate the effectiveness of the proposed method.

Finite-time fault-tolerant attitude stabilization for spacecraft with actuator saturation

This article deals with a zero-propellant maneuver guidance (ZPM) architecture to provide large-angle ISS (International Space Station) rotations. ZPM guidance commands are designed to avoid CMG (control moment gyroscope) momentum saturation. CMG desaturation is required to maintain spacecraft control capability and the manipulator's direction. The ZPM momentum-optimal trajectories were developed using computational dynamic optimization, these optimal trajectories are used to shape the command to a standard feedback controller. Using ZPM, the need for thrusters as backup to momentum-storage actuators for rotational control is minimized.

Bong Wie

Papers

Space Vehicle Dynamics and Control, Second Edition