Attitude Control of a String and Rigid Bodies System

2001 ◽  
Author(s):  
Masahiro Nohmi ◽  
Yoshiaki Terumichi ◽  
Kiyoshi Sogabe
Keyword(s):  
Attitude Control ◽  
Extreme Environment ◽  
Linear Interpolation ◽  
Rigid Bodies ◽  
Control Technique ◽  
Element Formulation ◽  
Controlled System ◽  
Control Approach ◽  
Natural Frequency Analysis ◽  
System Characteristics

Abstract Applications of mechanical systems of a string with a rigid bodies subsystem have various possibilities for the engineering in extreme environment conditions, for example, in space or in ocean. This rigid bodies subsystem can be used as a robot subsystem. This paper discusses about attitude control of the rigid bodies subsystem, especially around an equilibrium point of the whole system. The control technique is consists of attitude control with reaction wheels and angular momentum control with manipulation of the rigid bodies subsystem. In order to confirm the effectiveness of the control approach, numerical simulations have been done, under condition that the shape of the string is described by the finite-element formulation, selecting a linear interpolation Also, from the view point of natural frequency analysis of the controlled system, characteristics of the control approach have been examined.

Position and Attitude Control of Deep-Space Spacecraft Formation Flying Via Virtual Structure and θ-D Technique

2007 ◽  
Vol 129 (5) ◽  
pp. 689-698 ◽  
Author(s):  
Ming Xin ◽  
S. N. Balakrishnan ◽  
H. J. Pernicka
Keyword(s):  
Attitude Control ◽  
Formation Flying ◽  
Libration Point ◽  
Suboptimal Control ◽  
Control Technique ◽  
Deep Space ◽  
Control Approach ◽  
Spacecraft Formation ◽  
Spacecraft Formation Flying ◽  
Highly Nonlinear

Control of deep-space spacecraft formation flying is investigated in this paper using the virtual structure approach and the θ-D suboptimal control technique. The circular restricted three-body problem with the Sun and the Earth as the two primaries is utilized as a framework for study and a two-satellite formation flying scheme is considered. The virtual structure is stationkept in a nominal orbit around the L2 libration point. A maneuver mode of formation flying is then considered. Each spacecraft is required to maneuver to a new position and the formation line of sight is required to rotate to a desired orientation to acquire new science targets. During the rotation, the formation needs to be maintained and each spacecraft’s attitude must align with the rotating formation orientation. The basic strategy is based on a “virtual structure” topology. A nonlinear model is developed that describes the relative formation dynamics. This highly nonlinear position and attitude control problem is solved by employing a recently developed nonlinear control approach, called the θ-D technique. This method is based on an approximate solution to the Hamilton-Jacobi-Bellman equation and yields a closed-form suboptimal feedback solution. The controller is designed such that the relative position error of the formation is maintained within 1cm accuracy.

Motion of a Tethered System Under Attitude Control With Large Deformation, Rotation and Translation

2003 ◽  
Author(s):  
Shoichiro Takehara ◽  
Yoshiaki Terumichi ◽  
Masahiro Nohmi ◽  
Kiyoshi Sogabe
Keyword(s):  
Large Deformation ◽  
Attitude Control ◽  
Rigid Bodies ◽  
Torque Control ◽  
Body Motion ◽  
Joint Torque ◽  
Control Technique ◽  
Flexible Body ◽  
First Eigenvalue ◽  
Reaction Wheel

In this paper, we discuss about the motion of a system consisting of a very flexible body and rigid bodies at its end under attitude control to the end body. A tethered subsatellite in space is known as an example of this system. We consider two mathematical models for flexible body. First, the flexible body motion in a plane is described by using Finite Element Method formulation. Second, the flexible body in planer motion is described by using Absolute Nodal Coordinate formulation. In this method, it is easy to describe the motion of the flexible body with large deformation, rotation and translation displacement. We can consider interaction between the deflection of the flexible body and the motion of the rigid bodies in these methods. Furthermore we attempt to control the attitude of the end body using a reaction wheel. The flexible body motion is influenced on the motion of the rigid bodies under attitude control of end body. The control technique consists of an attitude control by the reaction wheel and a control by the reaction wheel with the joint torque control to cancel accumulation of angular momentum. First, eigenvalue analysis is carried out where control gain changes. Second, the motion under controlled system is discussed under free vibration. We compared these results. Furthermore we treat large deformation problem. The end of flexible body moves horizontally. As a result, we confirm the interaction between flexible body and rigid body under the attitude control.

scholarly journals Design of Satellite Attitude Control Algorithm Based on the SDRE Method Using Gas Jets and Reaction Wheels

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Luiz C. G. de Souza ◽  
Victor M. R. Arena
Keyword(s):  
Attitude Control ◽  
Control Algorithm ◽  
Controller Design ◽  
Algorithm Design ◽  
Large Angle ◽  
Space Mission ◽  
Control Technique ◽  
Gas Jets ◽  
State Dependent ◽  
Highly Nonlinear

An experimental attitude control algorithm design using prototypes can minimize space mission costs by reducing the number of errors transmitted to the next phase of the project. The Space Mechanics and Control Division (DMC) of INPE is constructing a 3D simulator to supply the conditions for implementing and testing satellite control hardware and software. Satellite large angle maneuver makes the plant highly nonlinear and if the parameters of the system are not well determined, the plant can also present some level of uncertainty. As a result, controller designed by a linear control technique can have its performance and robustness degraded. In this paper the standard LQR linear controller and the SDRE controller associated with an SDRE filter are applied to design a controller for a nonlinear plant. The plant is similar to the DMC 3D satellite simulator where the unstructured uncertainties of the system are represented by process and measurements noise. In the sequel the State-Dependent Riccati Equation (SDRE) method is used to design and test an attitude control algorithm based on gas jets and reaction wheel torques to perform large angle maneuver in three axes. The SDRE controller design takes into account the effects of the plant nonlinearities and system noise which represents uncertainty. The SDRE controller performance and robustness are tested during the transition phase from angular velocity reductions to normal mode of operation with stringent pointing accuracy using a switching control algorithm based on minimum system energy. This work serves to validate the numerical simulator model and to verify the functionality of the control algorithm designed by the SDRE method.

Automatic Flight Control of Unmanned Helicopter Based on Nonlinear Model

2012 ◽  
Vol 472-475 ◽  
pp. 1492-1499
Author(s):  
Run Xia Guo
Keyword(s):  
Nonlinear Model ◽  
Flight Control ◽  
Attitude Control ◽  
Lyapunov Stability Theory ◽  
Test Results ◽  
Unmanned Helicopter ◽  
Control Laws ◽  
Control Approach ◽  
State Dependent ◽  
Compensation Technique

The Unmanned helicopter (UMH) movement was divided into two parts, namely, attitude and trajectory motion. And then a two-timescale nonlinear model was established. The paper improved and expanded state dependent riccati equation (SDRE) control approach, deriving analytical conditions for achieving global asymptotic stability with lyapunov stability theory. Proof was given. By combining improved SDRE control with nonlinear feed-forward compensation technique, the full envelop flight attitude control laws could be designed. On the basis of attitude control, trajectory controller was developed. Actual flight tests were carried out. Test results show that the control strategy is highly effective.

scholarly journals Production and process management: An optimal control approach

2016 ◽  
Vol 26 (3) ◽  
pp. 331-342 ◽  
Author(s):  
Haider Biswas ◽  
Ahad Ali
Keyword(s):  
Optimal Control ◽  
Process Management ◽  
Nonlinear Dynamical Systems ◽  
State Constraint ◽  
Control Technique ◽  
Optimal Control Strategy ◽  
Nonlinear Dynamical ◽  
Control Approach ◽  
Time Operation ◽  
Operation Process

Optimal control and efficient management of industrial products are the key for sustainable development in industrial and process engineering. It is well-known that proper maintenance of process performance, ensuring the quality products after a long time operation of the system, is desirable in any industry. Nonlinear dynamical systems may play crucial role to appropriately design the model and obtain optimal control strategy in production and process management. This paper deals with a mathematical model in terms of ordinary differential equations (ODEs) that describe control of production and process arising in industrial engineering. The optimal control technique in the form of maximum principle, used to control the quality products in the operation processes, is applied to analyze the model. It is shown that the introduction of state constraint can be advantageous for obtaining good products during the longer operation process. We investigate the model numerically, using some known nonlinear optimal control solvers, and we present the simulation results to illustrate the significance of introducing state constraint onto the dynamics of the model.

scholarly journals Adaptive constraint control for nonlinear multi-agent systems with undirected graphs

2021 ◽  
Vol 6 (11) ◽  
pp. 12051-12064
Author(s):  
Lu Zhi ◽  
◽  
Jinxia Wu
Keyword(s):  
Control Method ◽  
Control Technique ◽  
Multi Agent Systems ◽  
Distributed Consensus ◽  
Controlled System ◽  
Agent Systems ◽  
Full State ◽  
Constraint Control ◽  
Multi Agent ◽  
System States

<abstract><p>This paper investigates the problem of adaptive distributed consensus control for stochastic multi-agent systems (MASs) with full state constraints. By utilizing adaptive backstepping control technique and barrier Lyapunov function (BLF), an adaptive distributed consensus constraint control method is proposed. The developed control method can ensure that all signals of the controlled system are semi-globally uniformly ultimately bounded (SGUUB) in probability, and outputs of the follower agents keep consensus with the output of leader. In addition, system states are not transgressed their constrained sets. Finally, simulation results are provided to illustrate the feasibility of the developed control algorithm and theorem.</p></abstract>

New Solar Attitude Control Approach for Satellites in Elliptic Orbits

1980 ◽  
Vol 3 (1) ◽  
pp. 42-47 ◽  
Author(s):  
V.K. Joshi ◽  
K. Kumari
Keyword(s):  
Attitude Control ◽  
Control Approach ◽  
Elliptic Orbits
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