Abstract
A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
JIN Er-dong, JIANG Xiao-lei, SUN Zhao-wei. Robust decentralized attitude coordination control of spacecraft formation [J]. Systems & Control Letters, 2008, 57(7): 567–577.
BUSTAN D, PARIZ N, SANI S K H. Robust fault-tolerant tracking control design for spacecraft under control input saturation [J]. ISA Transactions, 2014, 53(4): 1073–1080.
LU Kun-feng, XIA Yuan-qing, FU Meng-yin. Controller design for rigid spacecraft attitude tracking with actuator saturation [J]. Information Sciences, 2013, 220: 343–366.
PUKDEBOON C, ZINOBER A S I. Control Lyapunov function optimal sliding mode controllers for attitude tracking of spacecraft [J]. Journal of the Franklin Institute, 2012, 349(2): 456–475.
MAZINAN A H, PASAND M, SOLTANI B. Full quaternion based finite-time cascade attitude control approach via pulse modulation synthesis for a spacecraft [J]. ISA Transactions, 2015, 58: 567–585.
MAZINA N. A Lyapunov-based three-axis attitude intelligent control approach for unmanned aerial vehicle [J]. Journal of Central South University, 2015.
MAZINAN A H. On spacecraft maneuvers control subject to propellant engine modes [J]. ISA Transactions, Elsevier Publisher, 2015, 58: 222–236.
MAZINAN A H, KHALAJI A R. TADC: A new three-axis detumbling mode control approach [J]. International Journal of Dynamics and Control, 2015: 1–10.
MAZINAN A H. High-precision full quaternion based finite-time cascade attitude control strategy considering a class of overactuated space systems [J]. Human-centric Computing and Information Sciences, 2015: 1–14.
MAZINAN A H. High-precision three-axis detumbling and pointing attitude control strategy for a class of complicated space systems [J]. International Journal of Dynamics and Control, 2015: 1–22.
YEH F K. Sliding-mode adaptive attitude controller design for spacecrafts with thrusters [J]. IET Control Theory and Applications, 2010, 4(7): 1254–1264.
JIN Yong-qiang, LIU Xiang-dong, QIU Wei, HOU Chao-zhen. Time-varying sliding mode controls in rigid spacecraft attitude tracking [J]. Chinese Journal of Aeronautics, 2008, 21: 352–360.
MORADI M. Self-tuning PID controller to three-axis stabilization of a satellite with unknown parameters [J]. International Journal of Nonlinear Mechanics, 2013, 49: 50–56.
JIN Yong-qiang, LIU Xiang-dong, QIU Wei, HOU Chao-zhen. Time-varying sliding mode controls in rigid spacecraft attitude tracking [J]. Chinese Journal of Aeronautics, 2008, 21(4): 352–360.
WU Jin-jie, LIU Kun, HAN Da-peng. Adaptive sliding mode control for six-DOF relative motion of spacecraft with input constraint [J]. Acta Astronautica, 2013, 87: 64–76.
JIANG Ye, HU Qing-lei, MA Guang-fu. Adaptive backstepping fault-tolerant control for flexible spacecraft with unknown bounded disturbances and actuator failures [J]. ISA Transactions, 2010, 49(1): 57–69.
BUTYRIN S A, MAKAROV V P, MUKUMOV R R, SOMOV Y E, VASSILYEV S N. An expert system for design of spacecraft attitude control systems [J]. Artificial Intelligence in Engineering, 1997, 11(1): 49–59.
HU Qing-lei, ZHANG Jian. Relative position finite-time coordinated tracking control of spacecraft formation without velocity measurements [J]. ISA Transactions, 2014, 54: 60–74.
FRESK E. NIKOLAKOPOULOS G. Full quaternion based attitude control for a quadrotor [C]// European Control Conference (ECC), 2013: 3864–3869.
SABATINI M, PALMERINI G B, LEONANGELI N, GASBARRI P. Analysis and experiments for delay compensation in attitude control of flexible spacecraft [J]. Acta Astronautica, 2014, 104(1): 276–292.
ZHENG Zhong, SONG Shen-min. Autonomous attitude coordinated control for spacecraft formation with input constraint, model uncertainties, and external disturbances [J]. Chinese Journal of Aeronautics, 2014, 27(3): 602–612.
YANG Hong-jiu, YOU Xiu, XIA Yuan-qing, LIU Zhi-xin. Nonlinear attitude tracking control for spacecraft formation with multiple delays [J]. Advances in Space Research, 2014, 54(4): 759–769.
HUO Xing, HU Qing-lei, XIAO Bing. Finite-time fault tolerant attitude stabilization control for rigid spacecraft [J]. ISA Transactions, 2014, 23(2): 241–250.
DU Hai-bo, LI Shi-hua. Attitude synchronization control for a group of flexible spacecraft [J]. Automatica, 2014, 50(2): 646–651.
SONG Zhan-kui, LI Hong-xing, SUN Kai-biao. Finite-time control for nonlinear spacecraft attitude based on terminal sliding mode technique [J]. ISA Transactions, 2014, 53(1): 117–124.
LU Kun-feng, XIA Yuan-qing. Adaptive attitude tracking control for rigid spacecraft with finite-time convergence [J]. Automatica, 2013, 49(12): 3591–3599.
YANG Y. Spacecraft attitude determination and control: Quaternion based method [J]. Annual Reviews in Control, 2012, 36(2): 198–219.
ZOU An-min, dev KUMAR K. Adaptive fuzzy fault-tolerant attitude control of spacecraft [J]. Control Engineering Practice, 2011, 19(1): 10–21.
MOUSAVI F, ROSHANIAN J, EMAMI M R. Hardware-in-the-loop simulation for attitude control of a suborbital module using cold gas thrusters [J]. Modares Mechnicl Engineering, 2014, 14(10): 177–186.
WIE B, BARBA P M. Quatenion feedback for spacecraft large angle maneuvers [J]. Journal of Guidance, 1985, 8: 360–365.
HU Qing-lei, LI Bo, ZHANG You-min. Robust attitude control design for spacecraft under assigned velocity and control constraints [J]. ISA Transactions, 2013, 52(4): 480–493.
CAI He, HUANG Jie. The leader-following attitude control of multiple rigid spacecraft systems [J]. Automatica, 2014, 50(4): 1109–1115.
KUO Yong-lin, WU Tsung-liang. Open-loop and closed-loop attitude dynamics and controls of miniature spacecraft using pseudowheels [J]. Computers & Mathematics with Applications, 2012, 64(5): 1282–1290.
ZHANG Xu-xi, LIU Xian-ping, ZHU Qi-dan. Attitude control of rigid spacecraft with disturbance generated by time varying exosystems [J]. Communications in Nonlinear Science and Numerical Simulation, 2014, 19(7): 2423–2434.
JOHANSEN TOR A, FOSSEN THOR I. Control allocation—A survey [J]. Automatica, 2013, 49(5): 1087–1103.
ZACCARIAN L. Dynamic allocation for input redundant control systems [J]. Automatica, 2009. 45(6): 1431–1438.
SERVIDIA P A. Control allocation for gimballed/fixed thrusters [J]. Acta Astronautica, 2010, 66(3/4): 587–594.
VADALI S R. Variable-structure control of spacecraft large-angle maneuvers [J]. Journal of Guidance, Control, and Dynamics, 1986, 9(2): 235–239.
JIE Geng, SHENG Yong-zhi, LIU Xiang-dong. Finite-time sliding mode attitude control for a reentry vehicle with blended aerodynamic surfaces and a reaction control system [J]. Chinese Journal of Aeronautics, 2014, 27(4): 964–976.
KRØVEL T D. Optimal tuning of PWPF modulator for attitude control [D]. Moscow: Eng. Cybern 2005.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Mazinan, A.H. Application of hybrid robust three-axis attitude control approach to overactuated spacecraft—A quaternion based model. J. Cent. South Univ. 23, 1740–1753 (2016). https://doi.org/10.1007/s11771-016-3228-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11771-016-3228-4