Underactuated spacecraft angular velocity stabilization and three-axis attitude stabilization using two single gimbal control moment gyros

Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros （SGCMGs） as actuators is investigated. First of all, the dynamic model of the underactuated spacecraft is established and the singularity of different configurations with the two SGCMGs is analyzed. Under the assumption that the gimbal axes of the two SGCMGs are installed in any direction, and that the total system angular momentum is not zero, a state feedback control law via Lyapunov method is designed to globally asymptotically stabilize the angular velocity of spacecraft. Under the assumption that the gimbal axes of the two SGCMGs are coaxially installed along anyone of the three principal axes of spacecraft inertia, and that the total system angular momentum is zero, a discontinuous state feedback control law is designed to stabilize three-axis attitude of spacecraft with respect to the inertial frame. Furthermore, the singularity escape of SGCMGs for the above two control problems is also studied. Simulation results demonstrate the validity of the control laws.

Fuzzy Self-adaptive Proportional Integration Differential Control for Attitude Stabilization of Quadrotor UAV

The technology of attitude control for quadrotor unmanned aerial vehicles(UAVs) is one of the most important UAVs' research areas.In order to achieve a satisfactory operation in quadrotor UAVs having proportional integration differential(PID) controllers,it is necessary to appropriately adjust the controller coefficients which are dependent on dynamic parameters of the quadrotor UAV and any changes in parameters and conditions could affect desired performance of the controller.In this paper,combining with PID control and fuzzy logic control,a kind of fuzzy self-adaptive PID control algorithm for attitude stabilization of the quadrotor UAV was put forward.Firstly,the nonlinear model of six degrees of freedom(6-DOF) for quadrotor UAV is established.Secondly,for obtaining the attitude of quadrotor,attitude data fusion using complementary filtering is applied to improving the measurement accuracy and dynamic performance.Finally,the attitude stabilization control simulation model of the quadrotor UAV is build,and the self-adaptive fuzzy parameter tuning rules for PID attitude controller are given,so as to realize the online self-tuning of the controller parameters.Simulation results show that comparing with the conventional PID controller,this attitude control algorithm of fuzzy self-adaptive PID has a better dynamic response performance.

Finite-time attitude tracking control for spacecraft without angular velocity measurements

The output feedback control for spacecraft attitude tracking system is investigated in this study. It is assumed that angular velocity measurements are not available for feedback control.A technique named adding power integrator(API) is adopted to estimate the pseudo-angular-velocity. Then we design a finite-time attitude control law, which only utilizes the relative attitude information. The stability analyses of the feedback system are proved as well, which shows the attitude tracking errors will converge into a region of zero even the external disturbances exist. The simulation results illustrate the high precision and robust attitude control performance of the proposed control strategy.

Attitude Stabilization of Unmanned Underwater Vehicle During Payloads Release

Large unmanned underwater vehicles can carry big payloads for varied missions and it is desirable for them to possess an upright orientation during payload release.Their attitude can hardly be maintained during and after the phase of payload release.Releasing a payload from the vehicle induces uncertainties not only in rigid-body parameters,e.g,the moment of inertia tensor due to the varying distribution of the masses on board the vehicle,but also in the hydrodynamic derivatives due to the vehicle’s varying geometric profile.A nonlinear attitude stabilizer that is robust to these time-varying model uncertainties is proposed in this paper.Stability is guaranteed via Lyapunov stability theory.The simulation results verify the effectiveness of the proposed approach.

MODEL OF CENTRIFUGAL EFFECT AND ATTITUDEMANEUVER STABILITY OF A COUPLEDRIGID-FLEXIBLE SYSTEM

The influences of nonlinear centrifugal force to large overall attitude motion of coupled rigid-flexible system was investigated. First the nonlinear model of the coupled rigid-flexible system was deduced from the idea of “centrifugal potential field', and then the dynamic effects of the nonlinear centrifugal force to system attitude motion were analyzed by approximate calculation; At last, the Lyapunov function based on energy norm was selected, in the condition that only the measured values of attitude and attitude speed are available, and it is proved that the PD feedback control law can ensure the attitude stability during large angle maneuver.

Coupled trajectory and attitude stability of displaced orbits

Coupled trajectory and attitude stability of displaced solar orbits is studied by using sailcraft with a kind of two-folding construction with two unequal rectangular plates forming a right angle. Three-dimensional coupled trajectory and attitude equations are developed for the coupled dynamical system, and the results show that all three types of displaced solar orbits widely referenced can be achieved through selecting an appropriate size of the two-folding sail. An anal- ysis of the corresponding linear stability of the trajectory and attitude coupled system is carried out, and both trajectory and attitude linearly stable orbits are found to exist in a small range of parameters, whose non-linear stability is then examined via numerical simulations. Finally, passively stable orbits are found to have weak stability, and such passive means of station-keeping are attractive and useful in practice because of its simplicity.

Attitude control of multi-spacecraft systems on SO(3)with stochastic links failure

In this paper,for Multi-Spacecraft System(MSS)with a directed communication topology link and a static virtual leader,a controller is proposed to realize attitude consensus and attitude stabilization with stochastic links failure and actuator saturation.First,an MSS attitude error model suitable for a directed topology link and with a static virtual leader based on SO(3)is derived,which considers that the attitude error on SO(3)cannot be defined based on algebraic subtraction.Then,we design a controller to realize the MSS on SO(3)with attitude consensus and attitude stabilization under stochastic links failure and actuator saturation.Finally,the simulation results of a multi-spacecraft system with stochastic links failure and a static virtual leader spacecraft are demonstrated to illustrate the efficiency of the attitude controller.

Evaluation of E-sail parameters on central spacecraft attitude stability using a high-fidelity rigid–flexible coupling model

This study examines the impact of electric solar wind sail(E-sail)parameters on the attitude stability of E-sail’s central spacecraft by using a comprehensive rigid–flexible coupling dynamic model.In this model,the nodal position finite element method is used to model the elastic deformation of the tethers through interconnected two-node tensile elements.The attitude dynamics of the central spacecraft is described using a natural coordinate formulation.The rigid–flexible coupling between the central spacecraft and its flexible tethers is established using Lagrange multipliers.Our research reveals the significant influences of parameters such as tether numbers,tether’s electric potential,and solar wind velocity on attitude stability.Specifically,solar wind fluctuations and the distribution of electric potential on the main tethers considerably affect the attitude stability of the spacecraft.For consistent management,the angular velocities of the spacecraft must remain at target values.Moreover,the attitude stability of a spacecraft has a pronounced dependence on the geometrical configuration of the E-sail,with axisymmetric E-sails proving to be more stable.

ADAPTIVE SET STABILIZATION OF THE ATTITUDE OF A RIGID SPACECRAFT WITHOUT ANGULAR VELOCITY MEASUREMENTS

The global adaptive set stabilization problem of the attitude of a rigid spacecraft is addressed in this paper. Two different cases are considered. First, by using adaptive backstepping method, the authors design a global adaptive control law for the attitude control system with unknown inertia matrix such that the attitude and the angular velocities can be globally asymptotically stabilized to a set consisting of two equilibria. And then, based on the obtained backstepping adaptive law, the authors consider the case that the angular velocities are not measurable. By introducing an auxiliary state, a semi-global adaptive set stabilization law without angular velocity measurements is also designed. It is rigorously proved that, for the two cases, both of the closed loop systems satisfy the set stability. The effectiveness of the proposed methods is verified by simulation results.

Gain adaptive sliding mode controller based on interval type-Ⅱfuzzy neural network designed for attitude control for micro aircraft vehicle

Purpose–Micro aerial vehicle is nonlinear plant;it is difficult to obtain stable control for MAV attitude due to uncertainties.The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties,variations,and external disturbances.Design/methodology/approach–First,by employing interval type-II fuzzy neural network(ITIIFNN)to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle(MAV).Then,the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system,the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system.Findings–The validity of the proposed control method has been verified through real-time experiments.The experimental results show that the performance of interval type-II fuzzy neural network based gain adaptive sliding mode controller(GASMC-ITIIFNN)is significantly improved compared with conventional adaptive sliding mode controller(CASMC),type-I fuzzy neural network based sliding mode controller(GASMC-TIFNN).Practical implications–This approach has been used in one MAV,the controller works well,and which could guarantee the MAV control system with good performances under uncertainties,variations,and external disturbances.Originality/value–The main original contributions of this paper are:the proposed control scheme makes full use of the nominal model of the MAV attitude control model;the overall closed-loop control system is globally stable demonstrated by Lyapunov stable theory;the tracking error can be asymptotically attenuated to a desired small level around zero by appropriate chosen parameters and learning rates;and the MAV attitude control system based on GASMC-ITIIFNN controller can achieve favourable tracking performance than GASMC-TIFNN and CASMC.

Robust and fault-tolerant spacecraft attitude control based on an extended-observer design

The aim of this work is to develop a robust control strategy able to drive the attitude of a spacecraft to a reference value,despite the presence of unknown but bounded uncertainties in the system parameters and external disturbances.Thanks to the use of an extended observer design,the proposed control law is robust against all the uncertainties that affect the high-frequency gain matrix,which is shown to capture a broad spectrum of modelling issues,some of which are often neglected by traditional approaches.The proposed controller then provides robustness against parametric uncertainties,as moment of inertia estimation,payload deformations,actuator faults and external disturbances,while maintaining its asymptotic properties.

Nutation instability of spinning solid rocket motor spacecraft

The variation of mass, and moment of inertia of a spin-stabilized spacecraft leads to concern about the nutation instability. Here a careful analysis on the nutation instability is performed on a spacecraft propelled by solid rocket booster（SRB）. The influences of specific solid propellant designs on transversal angular velocity are discussed. The results show that the typical SRB of End Burn suppresses the non-principal axial angular velocity. On the contrary, the frequently used SRB of Radial Burn could amplify the transversal angular velocity. The nutation instability caused by a design of Radial Burn could be remedied by the addition of End Burn at the same time based on the study of the combination design of both End Burn and Radial Burn.The analysis of the results proposes the design conception of how to control the nutation motion.The method is suitable to resolve the nutation instability of solid rocket motor with complex propellant patterns.