Variable-Structure Control of Spacecraft Large-Angle Maneuvers
01 Mar 1986-Journal of Guidance Control and Dynamics (American Institute of Aeronautics and Astronautics (AIAA))-Vol. 9, Iss: 2, pp 235-239
TL;DR: In this paper, a control law that constrains the state to follow a specified path (the so-called sliding mode) in the state-space is designed on the basis of a simplified model of the spacecraft dynamics.
Abstract: The spacecraft large-angle maneuver problem is treated using the principles of variable-structure control theory. A control law that constrains the state to follow a specified path (the so-called sliding mode) in the state-space is designed on the basis of a simplified model of the spacecraft dynamics. The sliding mode is obtained by solving an optimal control problem posed in a reduced space, the solution being the angular velocities of the spacecraft as functions of the attitude variables (Euler parameters or quaternions in the present context). It is shown that the motion along the sliding mode is insensitive to parameter variations and unmodeled effects.
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TL;DR: A tutorial account of variable structure control with sliding mode is presented, introducing in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach.
Abstract: A tutorial account of variable structure control with sliding mode is presented. The purpose is to introduce in a concise manner the fundamental theory, main results, and practical applications of this powerful control system design approach. This approach is particularly attractive for the control of nonlinear systems. Prominent characteristics such as invariance, robustness, order reduction, and control chattering are discussed in detail. Methods for coping with chattering are presented. Both linear and nonlinear systems are considered. Future research areas are suggested and an extensive list of references is included. >
2,884 citations
519 citations
TL;DR: In this article, an indirect (nonregressor-based) approach to attitude tracking control of spacecraft is presented, which is shown to be robust against external disturbances and adaptive to unknown and time-varying mass/inertia properties.
Abstract: Reliable and cost-effective control of spacecraft should account for modeling uncertainties, unexpected disturbances, subsystem failures, and limited resources simultaneously. This paper presents an indirect (nonregressor-based) approach to attitude tracking control of spacecraft. It is shown that the control algorithms developed are not only robust against external disturbances and adaptive to unknown and time-varying mass/inertia properties, but also able to accommodate actuator failures under limited thrusts. All are achieved with inexpensive online computations (a feature of practical importance in reducing the usage of onboard resources in terms of computing power and memory size). Furthermore, this method is user/designer friendly in that it does not involve a time-consuming design procedure and demands little redesigning or reprogramming during vehicle operation. The benefits of the proposed control method are analytically authenticated and also validated via simulation study.
398 citations
Cites background from "Variable-Structure Control of Space..."
...Although there are rich results on attitude control of spacecraft in the literature, such as nonlinear feedback control [1,2], variable structure control [3], optimal control [4,5], adaptive control, and robust control [6–11], very few have explicitly dealt with these issues concurrently....
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TL;DR: In this article, two globally stable control algorithms for robust stabilization of spacecraft in the presence of control input saturation, parametric uncertainty, and external disturbances are proposed and a detailed stability analysis for the resulting closed-loop system is provided.
Abstract: In this paper we propose two globally stable control algorithms for robust stabilization of spacecraft in the presence of control input saturation, parametric uncertainty, and external disturbances. The control algorithms are based on variable structure control design and have the following properties: 1 ) fast and accurate response in thepresenceofbounded external disturbancesand parametricuncertainty;2 )explicit accounting forcontrol input saturation; 3 ) computational simplicity and straightforward tuning. We include a detailed stability analysis for the resulting closed-loop system. The stability proof is based on a Lyapunov-like analysis and the properties of the quaternion representation of spacecraft dynamics. It is also shown that an adaptive version of the proposed controller results in substantially simpler stability analysis and improved overall response. We also include numerical simulations to illustrate the spacecraft performance obtained using the proposed controllers.
323 citations
TL;DR: In this paper, a sliding-mode control (SMC) algorithm is derived and applied to quaternion-based spacecraft attitude tracking maneuvers, which can avoid the inverse of the inertia matrix and simplify the controller design.
Abstract: A sliding-mode control (SMC) algorithm is derived and applied to quaternion-based spacecraft attitude tracking maneuvers. Based on some interesting properties related to the spacecraft model, a class of linear sliding manifolds is selected. Significantly, a Lyapunov function is introduced in the SMC design, which can avoid the inverse of the inertia matrix and thus simplify the controller design. To improve the transient response before reaching the sliding manifold, the smoothing model-reference sliding-mode control (SMRSMC) is further developed, which requires well-estimated initial conditions. Simulation results are included to demonstrate the usefulness of the SMRSMC method.
269 citations
References
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TL;DR: Design and analysis forVariable structure systems are surveyed in this paper and it is shown that advantageous properties result from changing structures according to this switching logic.
Abstract: Variable structure systems consist of a set of continuous subsystems together with suitable switching logic. Advantageous properties result from changing structures according to this switching logic. Design and analysis for this class of systems are surveyed in this paper.
5,076 citations
Book•
01 Jan 1976
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and this is not only this control systems of variable structure.
Abstract: Downloading the book in this website lists can give you more advantages. It will show you the best book collections and completed collections. So many books can be found in this website. So, this is not only this control systems of variable structure. However, this book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts. This is simple, read the soft file of the book and you get it.
775 citations
TL;DR: This paper presents the stability and control analysis for large angle feedback reorientation maneuvers using reaction jets using strapdown inertial reference system and uses the Liapunov stability theorem for the three-axis maneuvers.
Abstract: This paper presents the stability and control analysis for large angle feedback reorientation maneuvers using reaction jets. The strapdown inertial reference system provides spacecraft attitude changes in terms of quaternions. Reaction jets with pulse-width pulse-frequency modulation provide nearly proportional control torques. The use of quaternions as attitude errors for large angle feedback control is investigated. Closed-loop stability analysis for the three-axis maneuvers is performed using the Liapunov stability theorem. Unique characteristics of the quaternion feedback are discussed for single-axis motion using a phase-plane plot. The practical feasibility of a three-axis large angle feedback maneuver is demonstrated by digital simulations.
470 citations
TL;DR: In this paper, the problem of designing an attitude regulator for an arbitrary rigid body was considered, and the design criterion was that the system should have only one equilibrium point, and this point should be asymptotically stable for arbitrary initial conditions.
Abstract: The problem considered in this paper is that of designing an attitude regulator for an arbitrary rigid body. The design criterion is that, in the presence of no disturbance torques on the body, the system should have only one equilibrium point, and this point should be asymptotically stable for arbitrary initial conditions. By use of Lyapunov techniques and an appropriate choice of state variables, it is shown that this criterion can be satisfied by employing a linear feedback law with constant coefficients.
119 citations
TL;DR: Polynomial feedback control for large-angle, nonlinear spacecraft attitude maneuvers is developed in this paper, where a five-body configuration consisting of an asymmetric spacecraft and four reaction wheels is considered.
Abstract: Polynomial feedback controls for large-angle, nonlinear spacecraft attitude maneuvers are developed. A five- body configuration consisting of an asymmetric spacecraft and four reaction wheels is considered. Attention is restricted to the momentum transfer class of internal control torques; this, in conjunction with the choice of Euler parameters as attitude coordinates, permits several important order reduction simplifications. Three numerical examples are included to illustrate applications of the concepts presented. APID large-angle attitude maneuvers have become in- creasingly important to the success of many current and future spacecraft missions. These maneuvers are characterized by nonlinear behavior, however, resulting in a control prob- lem that is likewise nonlinear. One approach to feedback con- trol of nonlinear motion is " gain scheduling" in which the control history is divided into segments, each determined by its own set of linear gains. A more attractive approach is con- trol of the entire nonlinear maneuver by a single set of gains. For the latter approach, a method is presented whereby the optimal nonlinear control problem is solved in polynomial feedback form and a suboptimal control law is determined by truncation. Currently there are two approaches used to deter- mine the polynomial coefficients for the control. One is to ex- pand the coast-to-go functional as a polynomial in the states and then recursively solve the Hamilton- Jacobi-Bellman equa- tion, as discussed by Willenstein,1 Dabbous and Ahmed,2 and Dwyer and Sena.3 In the method used here,4 the control itself is expanded as a polynomial and the coefficients determined recursively from the costate equations.
76 citations