This paper addresses a composite two-time-scale control system for simultaneous three-axis attitude maneuvering and elastic mode stabilization of flexible spacecraft. By choosing an appropriate time coordinates transformation system, the spacecraft dynamics can be divided into double time-scale subsystems using singular perturbation theory (SPT). Attitude and vibration control laws are successively designed by considering a time bandwidths separation between the oscillatory flexible parts motion describing a fast subsystem and rigid body attitude dynamics as a slow subsystem. A nonlinear quaternion feedback control, based on modified sliding mode (MSM), is chosen for attitude control design and a strain rate feedback (SRF) scheme is developed for suppression of vibrational modes. In the attitude control law, the modification to sliding manifold for slow subsystem ensures that the spacecraft follows the shortest possible path to the sliding manifold and highly reduces the switching action. Stability proof of the overall closed-loop system is given via Lyapunov analysis. The proposed design approach is demonstrated to combine excellent performance in the compensation of residual flexible vibrations for the fully nonlinear system under consideration, as well as computational simplicity.
Attitude and Vibration Control of Flexible Spacecraft Using Singular Perturbation Approach
