Smooth time-optimal attitude control of spacecraft

2018 ◽  
Vol 233 (7) ◽  
pp. 2331-2343 ◽  
Author(s):  
Yabo Hu ◽  
Baolin Wu ◽  
Yunhai Geng ◽  
Yunhua Wu
Keyword(s):  
Attitude Control ◽  
Trajectory Optimization ◽  
Angular Acceleration ◽  
Optimization Method ◽  
Frequency Domain Analysis ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Control Torque ◽  
Attitude Maneuver ◽  
Time Optimal

In this paper, a trajectory optimization method for generating smooth and approximate time-optimal attitude maneuver trajectories of flexible spacecraft is proposed. Smooth attitude maneuver is highly desirable for flexible spacecraft, since vibration of flexible appendices can be suppressed. In order to obtain smooth and approximate time-optimal attitude trajectory, a novel objective function composed of two terms is developed in the problem of trajectory optimization: the first term is proportional to the total maneuver time and the other one is proportional to the integral of the squared control torque derivatives. This latter term ensures that the generated trajectory is smooth. The degree of the smoothness of the trajectory can be adjusted by the weights of these two terms. The constraints on angular velocity and angular acceleration are considered in the proposed method. A closed-loop tracking control law is then employed to track the optimized reference attitude trajectory. Numerical simulations and frequency domain analysis show that the proposed method can generate smoother trajectory than traditional time-optimal methods, which leads to less vibration during attitude maneuver of a flexible spacecraft.

scholarly journals Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Rui-Qi Dong ◽  
Yu-Yao Wu ◽  
Ying Zhang ◽  
Ai-Guo Wu
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Performance Criterion ◽  
Lyapunov Theory ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Inertia Matrix ◽  
Attitude Maneuver

In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

scholarly journals Robust Trajectory Planning for Hypersonic Glide Vehicle with Parametric Uncertainties

2021 ◽  
Vol 2021 ◽  
pp. 1-19
Author(s):  
Chunyun Dong ◽  
Zhi Guo ◽  
Xiaolong Chen
Keyword(s):  
Optimal Control ◽  
Trajectory Optimization ◽  
Fitness Function ◽  
Uncertainty Propagation ◽  
Control Law ◽  
Outer Loop ◽  
Loop Optimization ◽  
Robust Optimal Control ◽  
Decision Variables ◽  
Time Optimal

A hybrid double-loop optimization algorithm combing particle swarm optimization (PSO) and nonintrusive polynomial chaos (NIPC) is proposed for solving the robust trajectory optimization of hypersonic glide vehicle (HGV) under uncertainties. In the outer loop, the PSO method searches globally for the robust optimal control law according to a penalized fitness function that contains the system robustness considerations. In the inner loop, uncertainty propagation of the stochastic system is performed using the NIPC method, to provide statistical moments for the iterative scheme of the PSO method in the outer loop. Only control variables are discretized, and the state constraints are satisfied implicitly through the numerical integration process, which reduces the number of decision variables as well as the huge amount of computation increased by NIPC. In the end, the robust optimal control law is achieved conveniently. Numerical simulations are carried out considering a classical time-optimal trajectory optimization problem of HGV with uncertainties in both initial states and aerodynamic coefficients. The results demonstrate the feasibility and effectiveness of the proposed method.

Satellite magnetic/momentum wheel attitude control technology based on PIO cascade-saturation algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Bing Hua ◽  
Nan Zhang ◽  
Mohong Zheng
Keyword(s):  
Steady State ◽  
Attitude Control ◽  
Control Law ◽  
Control Technology ◽  
Optimal Parameters ◽  
Saturation Control ◽  
Content Type ◽  
Attitude Maneuver ◽  
Control Objective ◽  
State Error

Purpose Taking into account the factors of torque saturation and angular velocity limitation during the actual attitude maneuver of the satellite, as well as the difficulty of parameter selection in the design of attitude control algorithm, the purpose of this paper is to propose a satellite magnetic/momentum wheel attitude control technology based on pigeon-inspired optimization (PIO) cascade-saturation control law optimization. Design/methodology/approach The optimal parameters are calculated through the PIO algorithm and then the parameters are used in the cascade-saturation control law to control the actuator findings-mathematical simulation results show that the cascade-saturation control law optimization algorithm based on PIO can shorten the adjustment time and reduce the steady-state error. Findings Compared with traditional attitude maneuver control with given parameters, the PIO algorithm can accurately calculate the optimal parameters needed to achieve the control objective and this method has better stability and higher accuracy. Originality/value The innovative PIO algorithm is used to calculate the optimal parameters, and the cascade saturation control law is used to control the actuator. Compared with the traditional algorithm, the regulation time is shortened and the steady-state error is reduced.

A time suboptimal method for real-time spacecraft attitude agile maneuvering with angular velocity constraint

2017 ◽  
Vol 233 (2) ◽  
pp. 561-572 ◽  
Author(s):  
Yun-Hua Wu ◽  
Ya-Bo Hu ◽  
Bing Hua ◽  
Zhi-Ming Chen ◽  
Lin-Lin Ge
Keyword(s):  
Angular Velocity ◽  
Real Time ◽  
Attitude Control ◽  
Pseudospectral Method ◽  
Suboptimal Control ◽  
Spacecraft Attitude ◽  
Attitude Maneuver ◽  
Time Optimal ◽  
Real Time Application ◽  
Velocity Constraint

A time suboptimal method for on-orbit rapid attitude maneuver control of agile spacecraft with attitude angular velocity constraint is proposed, which can generate suboptimal control torque command for real-time application. Spacecraft time-optimal slew maneuver has been studied by many researchers, and most of the interest is focused on formulating and resolving the optimization problem of spacecraft attitude maneuver in proper ways. Pseudospectral method, among most of the existing methods, is feasible to figure out the preferred solution satisfying the control precision, which possesses the values of practical application. However, pseudospectral method consumes much time for planning attitude trajectory making it impossible for on-orbit spacecraft real-time control, especially for observation mission with frequent maneuver. After thorough analysis of the time optimal attitude maneuvering results, several patterns with respect to the generation of attitude control command are summarized that result in an interpolation control method, which is time suboptimal and is capable of on-orbit real-time application for spacecraft with small products of inertia. Closed-loop control is implemented to cancel the final pointing error. Several simulations have been performed to validate the performance of the proposed strategy, and have demonstrated the potential application for small agile spacecraft with limited attitude control ability.

Biped walking control using a trajectory library

Robotica ◽  
2012 ◽  
Vol 31 (2) ◽  
pp. 311-322 ◽  
Author(s):  
Chenggang Liu ◽  
Christopher G. Atkeson ◽  
Jianbo Su
Keyword(s):  
Optimal Control ◽  
Trajectory Optimization ◽  
Linear Models ◽  
Biped Robot ◽  
Optimization Method ◽  
Optimal Trajectories ◽  
Control Law ◽  
Biped Walking ◽  
Walking Control ◽  
Biped Walking Control

SUMMARYThis paper presents biped walking control using a library of optimal trajectories. Biped walking control is formulated as an optimal control problem. We use a parametric trajectory optimization method to find the periodic steady-state walking trajectory. As a second stage, we use Differential Dynamic Programming to generate a library of optimal trajectories and locally linear models of the optimal control law, which are used to construct a more global control law. The proposed controller is compared with a trajectory tracking controller using optimal gains. The utility and performance of the proposed method are evaluated using simulated walking control of a planar five-link biped robot.

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.

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