Optimal Stabling of Attitude Maneuver for a Special Satellite With Reaction Wheel Actuators

2010 ◽  
Author(s):  
Seyed Hasan Miri Roknabadi ◽  
Mohamad Fakhari Mehrjardi ◽  
Mehran Mirshams
Keyword(s):  
Attitude Control ◽  
Equations Of Motion ◽  
Low Energy ◽  
Dynamic Equations ◽  
Satellite Motion ◽  
Reaction Wheel ◽  
State Equations ◽  
Time Consumption ◽  
Attitude Maneuver ◽  
Simulation Results

This paper presents an optimal attitude maneuver by Reaction Wheels to achieve desired attitude for a Satellite. At first, Dynamic Equations of motion for a satellite with just three Reaction Wheels of its active actuators are educed, and then State Equations of this system are obtained. An optimal attitude control with the LQR method has exerted for a distinct satellite by its Reaction Wheels. As a result simulation has presented an optimal effort by calculated Gain matrix to achieve desired attitude for chosen Satellite. It shows that satellite becomes stable in desired attitude with a low energy and time consumption. Furthermore equations derivation, coupling of electrical Reaction Wheel equations with dynamic equations of satellite motion, linearizes them and Reaction wheel saturation avoidance approaches are innovative. Simulation results, accuracy of achieving desired attitude and satellite stability support this statement.

Cooperative parameter estimation of a nonuniform payload by multiple quadrotors

Robotica ◽  
2021 ◽  
pp. 1-20
Author(s):  
Farhad Arab ◽  
Farzad A. Shirazi ◽  
Mohammad Reza Hairi Yazdi
Keyword(s):  
Attitude Control ◽  
Equations Of Motion ◽  
Estimation Algorithm ◽  
Adaptive Controller ◽  
Dynamic Equations ◽  
Physical Parameters ◽  
Constraint Forces ◽  
Outer Loop ◽  
Simulation Results

Abstract Thispaper addresses the problem of carrying an unknown nonuniform payload by multiple quadrotor agents. The load is modeled as a rigid body with unknown weight and position of Center of Gravity (CG) for the agents, and is included in their dynamic equations of motion. The agents and the load are assumed to be connected to each other by taut ropes. The Udwadia–Kalaba equation is used to calculate the constraint forces on the ropes acting on each quadrotor. Inner-loop and outer-loop controllers for quadrotors position and attitude control are presented. For the outer loop, an estimation algorithm based on the invariance and immersion adaptive control is utilized to estimate the unknown physical parameters of the payload including mass and CG position without using multi-axes force/torque sensors. The inner-loop controller employs an adaptive controller. Simulation results, for two and four agents carrying a nonuniform rod and cubic payload, show the effectiveness of the proposed algorithm. A case study is also performed to investigate the effect of quadrotors positioning on flight endurance of the cooperative aerial team carrying a nonuniform payload.

General Equations of a Helical Spring With a Cup Damper and Static Verification

1997 ◽  
Vol 119 (2) ◽  
pp. 319-326 ◽  
Author(s):  
Ming Hsun Wu ◽  
Jing Yuan Ho ◽  
Wensyang Hsu
Keyword(s):  
Experimental Data ◽  
Pitch Angle ◽  
Equations Of Motion ◽  
Maximum Error ◽  
Dynamic Equations ◽  
Helical Spring ◽  
Static Force ◽  
Static Verification ◽  
Simulation Results ◽  
Force Displacement

In this study, we derive the general equations of motion for the helical spring with a cup damper by considering the damper’s dilation and varying pitch angle of the helical spring. These dynamic equations are simplified to correlate with previous models. The static force-displacement relation is also derived. The extra stiffness due to the damper’s dilation considered in the force-displacement relation is the first such modeling in this area. In addition, a method is presented to predict the compressing spring’s coil close length and is then verified by experimental data. Moreover, the simulation results of the static force-displacement relation are found to correspond to the experimental data. The maximum error is around 0.6 percent.

Optimal Control of an Assisted Passive Snake-Like Robot Using Feedback Linearization

2007 ◽  
Author(s):  
Saman Mohammadi ◽  
Zoya Heidari ◽  
Hojjat Pendar ◽  
Aria Alasty ◽  
Gholamreza Vossoughi
Keyword(s):  
Optimal Control ◽  
Nonlinear System ◽  
Nonlinear Control ◽  
Feedback Linearization ◽  
Equations Of Motion ◽  
Dynamic Equations ◽  
Unmodeled Dynamics ◽  
Pd Controller ◽  
Simulation Results ◽  
Distinct Line

In this paper we follow two approaches in optimal nonlinear control of a snake-like robot. After deriving the dynamic equations of motion using Gibbs-Appell method, reducing these equations, and some assumptions, feedbacklinearization method was used to linearize the nonlinear system. The obtained controller is used in simulations to control robot to track a desired line, with minimum required torques. Two goals are desired. First the robot’s head is expected to track a distinct line with a given speed. And next, tracking the serpenoid curve is desired. The simulation results prove the controller efficiency. The robustness of the designed controller is shown by comparing the torques with the required torques using a PD controller. Additionally, although we had model mismatches and unmodeled dynamics in controller part, we achieved the desired goals.

Utilizing Reaction Wheels to Increase Maneuverability and Localization Accuracy of a Hovering Robot

2016 ◽  
Author(s):  
Akin Tatoglu ◽  
Sean Greenhalge ◽  
Kevin Windheuser
Keyword(s):  
High Speed ◽  
Equations Of Motion ◽  
Reaction Wheel ◽  
Simple Task ◽  
Localization Accuracy ◽  
Braking System ◽  
Power Stations ◽  
Sharp Turn ◽  
Simulation Results ◽  
Time Required

Hovercraft like vehicles have various advantages including traveling over almost any non-porous surface. Hovering bodies could use its thrusters to generate an active braking system. However, time required to stop and change direction of the propellers is not sufficient enough for sudden brake needs specifically in obstacle rich co-robot environment. Moreover, high speed sharp turn ability increases path planning algorithms efficiency by reducing overall mission time for any given simple task such as docking to power stations or more sophisticated tasks of sweeping unexplored areas. This paper discusses and examines the application of a reaction wheel mounted to a hovering body to allow for rapid maneuver. Reaction wheel is designed to have enough mass to adjust motion of the hovering robot due to unexpected drift or requested maneuver. Wheel would accelerate to high velocity and experience an instantaneous brake which allows energy stored in moment of inertia to be transferred from wheel to body. Detailed design approach, assembly steps, equations of motion and simulation results incorporated with generated path are discussed. Finally, set of real world experiments were executed and comparison plots are listed. Results showed that solution improves maneuverability of such structure substantially.

Euler–Lagrange as Pseudo-metric of the RRT algorithm for optimal-time trajectory of flight simulation model in high-density obstacle environment

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1138-1156 ◽  
Author(s):  
Mohammad Altaher ◽  
Omaima Nomir
Keyword(s):  
Equations Of Motion ◽  
Flight Simulation ◽  
Dynamic Equations ◽  
Optimal Time ◽  
Holonomic Constraints ◽  
Lagrange Formula ◽  
Path Constraints ◽  
Optimized Model ◽  
Simulation Results ◽  
Path Constraint

SUMMARYThis paper introduces a solution to the problem of steering an aerodynamical system, with non-holonomic constraints superimposed on dynamic equations of motion. The proposed approach is a dimensionality reduction of the Optimal Control Problem (OCP) with heavy path constraints to be solved by Rapidly-Exploring Random Tree (RRT) algorithm. In this research, we formulated and solved the OCP with Euler–Lagrange formula in order to find the optimal-time trajectory. The RRT constructs a non-collision path in static, high-dense obstacle environment (i.e. heavy path constraint). Based on a real-world aircraft model, our simulation results found the collision-free path and gave improvements of time and fuel consumption of the optimized Hamiltonian-based model over the original non-optimized model.

Control and Simulation of Spacecraft's Attitude Control Based on Quaternions

2013 ◽  
Vol 380-384 ◽  
pp. 298-301
Author(s):  
Xu Min Song ◽  
Yong Chen
Keyword(s):  
Attitude Control ◽  
Sliding Mode ◽  
Control Model ◽  
Dynamic Equations ◽  
Control Law ◽  
Attitude Dynamics ◽  
Attitude Maneuver ◽  
Spacecraft Attitude Dynamics ◽  
Dynamics And Control ◽  
And Control

The large attitude maneuver is studied in this paper. The quarternion form attitude is appilied to avoid the singularity of dynamic equations, and sliding mode control law based on quarternion is desined. The spacecraft attitude dynamics and control model is builted using simulink, which was valided by simulation.

Reaction wheel attitude control for space vehicles

1959 ◽  
Vol 4 (3) ◽  
pp. 139-149 ◽  
Author(s):  
R. Froelich ◽  
H. Papapoff
Keyword(s):  
Attitude Control ◽  
Space Vehicles ◽  
Reaction Wheel

Dynamics Simulation and Analysis of Transition Stage of Tilt-Rotor Aircraft

2016 ◽  
Vol 842 ◽  
pp. 251-258 ◽  
Author(s):  
Muhammad Rafi Hadytama ◽  
Rianto A. Sasongko
Keyword(s):  
Dynamic Response ◽  
Equations Of Motion ◽  
Flight Dynamics ◽  
Dynamics Simulation ◽  
Tilt Rotor ◽  
Vertical Takeoff And Landing ◽  
Improved Stability ◽  
Simulation Results ◽  
Vtol Aircraft ◽  
Vertical Takeoff

This paper presents the flight dynamics simulation and analysis of a tilt-rotor vertical takeoff and landing (VTOL) aircraft on transition phase, that is conversion from vertical or hover to horizontal or level flight and vice versa. The model of the aircraft is derived from simplified equations of motion comprising the forces and moments working on the aircraft in the airplane's longitudinal plane of motion. This study focuses on the problem of the airplane's dynamic response during conversion phase, which gives an understanding about the flight characteristics of the vehicle. The understanding about the flight dynamics characteristics is important for the control system design phase. Some simulation results are given to provide better visualization about the behaviour of the tilt-rotor. The simulation results show that both transition phases are quite stable, although an improved stability can give better manoeuver and attitude handling. Improvement on the simulation model is also required to provide more accurate and realistic dynamic response of the vehicle.

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