Semiglobal Nonmemoryless Attitude Controls on the Special Orthogonal Group

2018 ◽  
Vol 141 (2) ◽  
Author(s):  
Taeyoung Lee ◽  
Dong Eui Chang ◽  
Yongsoon Eun
Keyword(s):  
Control Systems ◽  
Attitude Control ◽  
Orthogonal Group ◽  
Global Attractivity ◽  
Control Input ◽  
Attitude Dynamics ◽  
Region Of Attraction ◽  
Special Orthogonal Group ◽  
Topological Restriction ◽  
New Framework

This paper presents tracking strategies for the attitude dynamics of a rigid body that are global on the configuration space SO(3) and semiglobal over the phase space SO(3)×ℝ3. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological restriction has been dealt with either by constructing smooth attitude control systems that exclude a set of zero measure in the region of attraction or by introducing discontinuities in the control input. This paper proposes nonmemoryless attitude control systems that are continuous in time, where the region of attraction guaranteeing exponential convergence completely covers the special orthogonal group. This provides a new framework to address the topological restriction in attitude controls. The efficacy of the proposed methods is illustrated by numerical simulations and an experiment.

Observer-based reaction wheel fault reconstruction for spacecraft attitude control systems

2019 ◽  
Vol 91 (10) ◽  
pp. 1268-1277
Author(s):  
Qingxian Jia ◽  
Huayi Li ◽  
Xueqin Chen ◽  
Yingchun Zhang
Keyword(s):  
Control Systems ◽  
Attitude Control ◽  
Spacecraft Attitude ◽  
Spacecraft Attitude Control ◽  
Attitude Dynamics ◽  
Reaction Wheel ◽  
Content Type ◽  
Fault Reconstruction ◽  
Spacecraft Attitude Dynamics ◽  
Non Linear

Purpose The purpose of this paper is to achieve fault reconstruction for reaction wheels in spacecraft attitude control systems (ACSs) subject to space disturbance torques. Design/methodology/approach Considering the influence of rotating reaction wheels on spacecraft attitude dynamics, a novel non-linear learning observer is suggested to robustly reconstruct the loss of reaction wheel effectiveness faults, and its stability is proven using Lyapunov’s indirect method. Further, an extension of the proposed approach to bias faults reconstruction for reaction wheels in spacecraft ACSs is performed. Findings The numerical example and simulation demonstrate the effectiveness of the proposed fault-reconstructing methods. Practical implications This paper includes implications for the development of reliability and survivability of on-orbit spacecrafts. Originality/value This paper proposes a novel non-linear learning observer-based reaction wheels fault reconstruction for spacecraft ACSs.

Observer-based robust actuator fault isolation and identification for microsatellite attitude control systems

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Huayi Li ◽  
Qingxian Jia ◽  
Rui Ma ◽  
Xueqin Chen
Keyword(s):  
Control Systems ◽  
Attitude Control ◽  
Optimization Problems ◽  
Fault Isolation ◽  
Linear Matrix ◽  
Actuator Fault ◽  
Attitude Dynamics ◽  
Isolation And Identification ◽  
Content Type ◽  
Satellite Attitude

Purpose The purpose of this paper is to accomplish robust actuator fault isolation and identification for microsatellite attitude control systems (ACSs) subject to a series of space disturbance torques and gyro drifts. Design/methodology/approach For the satellite attitude dynamics with Lipschitz constraint, a multi-objective nonlinear unknown input observer (NUIO) is explored to accomplish robust actuator fault isolation based on a synthesis of Hinf techniques and regional pole assignment technique. Subsequently, a novel disturbance-decoupling learning observer (D2LO) is proposed to identify the isolated actuator fault accurately. Additionally, the design of the NUIO and the D2LO are reformulated into convex optimization problems involving linear matrix inequalities (LMIs), which can be readily solved using standard LMI tools. Findings The simulation studies on a microsatellite example are performed to prove the effectiveness and applicability of the proposed robust actuator fault isolation and identification methodologies. Practical implications This research includes implications for the enhancement of reliability and safety of on-orbit microsatellites. Originality/value This study proposes novel NUIO-based robust fault isolation and D2LO-based robust fault identification methodologies for spacecraft ACSs subject to a series of space disturbance torques and gyro drifts.

Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics

2021 ◽  
Author(s):  
Kanishke Gamagedara ◽  
Taeyoung Lee
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Position Tracking ◽  
Control Input ◽  
Attitude Dynamics ◽  
Attitude Control System ◽  
Adaptive Controls ◽  
Local Coordinates ◽  
Aerial Vehicle ◽  
The One

Abstract This paper presents a geometric adaptive position tracking control system for a quadrotor unmanned aerial vehicle. In particular, the attitude control system is designed on the product of the two-dimensional unit sphere and the one-dimensional circle such that the direction of the thrust that is critical for position tracking is controlled independently from the yawing direction that is irrelevant to the position dynamics. Compared against the prior work with coupled attitude controls on the special orthogonal group, the proposed controller prevents large yaw errors from causing an undesirable performance degradation in tracking a position command. Further, the control input is augmented with adaptive control terms to mitigate the effects of disturbances, and it is formulated globally on the spheres to avoid singularities and complexities of local coordinates. The efficacy of the proposed control system is illustrated by both numerical examples and indoor/outdoor flight experiments.

Boundary control design based on partial differential equation observer for vibration suppression and attitude control of flexible satellites with multi-section solar panels

2021 ◽  
pp. 107754632199015
Author(s):  
Mohammad Mahdi Ataei ◽  
Hassan Salarieh ◽  
Hossein Nejat Pishkenari ◽  
Hadi Jalili
Keyword(s):  
Differential Equation ◽  
Partial Differential Equation ◽  
Attitude Control ◽  
Vibration Suppression ◽  
Equation System ◽  
Solar Panels ◽  
Attitude Dynamics ◽  
Partial Differential ◽  
Satellite Attitude ◽  
Element Technique

A novel partial differential equation observer is proposed to be used in boundary attitude and vibration control of flexible satellites. Solar panels’ vibrations and attitude dynamics form a coupled partial differential equation–ordinary differential equation system which is controlled directly without discretization. Few feedback signals from boundaries are required which are estimated via a partial differential equation observer. Consequently, just satellite attitude and angular velocity should be measured and still the control system benefits information from continuous part vibrations. The closed-loop system is proved to be asymptotically stable. Simulations with a finite element technique illustrate good performance of this observer-based boundary controller.

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