### Fully-Actuated System Approach Based Optimal Attitude Tracking Control of Rigid Spacecraft with Actuator Saturation

LIU Gaoqi, ZHANG Kai, LI Bin

1. School of Aeronautics and Astronautics, Sichuan University, Chengdu 610065, China
• Received:2021-12-30 Revised:2022-01-27 Published:2022-04-13
• Contact: ZHANG Kai
• Supported by:
This research was supported by the National Natural Science Foundation of China under Grant No. 61903312, Huiyan Project for Research on Innovation and Application of Space Science and Technology under Grant No. CD2B65B6.

LIU Gaoqi, ZHANG Kai, LI Bin. Fully-Actuated System Approach Based Optimal Attitude Tracking Control of Rigid Spacecraft with Actuator Saturation[J]. Journal of Systems Science and Complexity, 2022, 35(2): 688-702.

In this paper, a fully-actuated system approach (FASA) based control method is proposed for rigid spacecraft attitude tracking with actuator saturation. First, a second-order fully-actuated form of spacecraft attitude error model is established by modified Rodrigues parameters (MRPs). The unknown total disturbance caused by inertial uncertainty and external disturbance is estimated by using extended state observer, then an FASA based controller is developed. Further, a control parameterization method is adopted to optimize the parameter matrices of FASA based controller with the actuator saturation. Finally, a numerical example is carried out to validate the effectiveness of the proposed scheme.
 [1] Dong R Q, Wu A G, Zhang Y, et al., Anti-unwinding sliding mode attitude control via two modified Rodrigues parameter sets for spacecraft, Automatica, 2021, 129: 109642.[2] Liu X L, Duan G R, and Teo K L, Optimal soft landing control for moon lander, Automatica, 2008, 44(4): 1097–1103.[3] Su Q Y and Huang Y, Observability analysis and navigation algorithm for distributed satellites system using relative range measurements, Journal of Systems Science & Complexity, 2018, 31(5): 1206–1226.[4] Xia Y, Zhu Z, Fu M, et al., Attitude tracking of rigid spacecraft with bounded disturbances, IEEE Transactions on Industrial Electronics, 2011, 58(2): 647–659.[5] Dong R Q, Wu A G, and Zhang Y, Anti-unwinding sliding mode attitude maneuver control for rigid spacecraft, IEEE Transactions on Automatic Control, 2021, arXiv: 2004.07001.[6] Xiao B, Hu Q L, Singhose W E, et al., Reaction wheel fault compensation and disturbance rejection for spacecraft attitude tracking, Journal of Guidance, Control, and Dynamics, 2013, 36(6): 1565–1575.[7] Qiao J Z, Li Z X, Xu J W, et al., Composite nonsingular terminal sliding mode attitude controller for spacecraft with actuator dynamics under matched and mismatched disturbances, IEEE Transactions on Industrial Informatics, 2020, 16(2): 1153–1162.[8] Xu S D, Chen C C, and Wu Z L, Study of nonsingular fast terminal sliding-mode fault-tolerant control, IEEE Transactions on Industrial Electronics, 2015, 62(6): 3906–3913.[9] Zou A M, Kumar K D, Hou Z G, et al., Finite-time attitude tracking control for spacecraft using terminal sliding mode and chebyshev neural network, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2011, 41(4): 950–963.[10] Jiang B Y, Hu Q L, and Friswell M I, Fixed-time attitude control for rigid spacecraft with actuator saturation and faults, IEEE Transactions on Control Systems Technology, 2016, 24(5): 1892–1898.[11] Sun L and Zheng Z W, Disturbance-observer-based robust backstepping attitude stabilization of spacecraft under input saturation and measurement uncertainty, IEEE Transactions on Industrial Electronics, 2017, 64(10): 7994–8002.[12] Shao X D, Hu Q L, Shi Y, et al., Fault-tolerant prescribed performance attitude tracking control for spacecraft under input saturation, IEEE Transactions on Control Systems Technology, 2020, 28(2): 574–582.[13] Zou A M, Kumar K D, and Ruiter A H, Fixed-time attitude tracking control for rigid spacecraft, Automatica, 2020, 113: 108792.[14] Xiao B, Hu Q L, and Zhang Y M, Adaptive sliding mode fault tolerant attitude tracking control for flexible spacecraft under actuator saturation, IEEE Transactions on Control Systems Technology, 2012, 20(6): 1605–1612.[15] Chen H T and Song S M, Robust chattering-free finite time attitude tracking control with input saturation, Journal of Systems Science & Complexity, 2019, 32(6): 1597–1629.[16] Ding S H, Li S H, and Li Q, Adaptive set stabilization of the attitude of a rigidspacecraft without angular velocity measurements, Journal of Systems Science & Complexity, 2011, 24(1): 105–119.[17] Liang Y W, Xu S D, and Ting L W, T-S model-based SMC reliable design for a class of nonlinear control systems, IEEE Transactions on Industrial Electronics, 2009, 56(9): 3286–3295.[18] Sun L and Zheng Z W, Saturated adaptive hierarchical fuzzy attitude-tracking control of rigid spacecraft with modeling and measurement uncertainties, IEEE Transactions on Industrial Electronics, 2019, 66(5): 3742–3751.[19] Liu Y, Jiang B X, Lu J Q, et al., Event-triggered sliding mode control for attitude stabilization of a rigid spacecraft, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2020, 50(9): 3290–3299.[20] Wang C L, Guo L, Wen C Y, et al., Event-triggered adaptive attitude tracking control for spacecraft with unknown actuator faults, IEEE Transactions on Industrial Electronics, 2020, 67(3): 2241–2250.[21] Duan G R, Quasi-linear system approaches for aerocraft control: Part 1. An overview and problems, Journal of Astronautics, 2020, 41(6): 633–646.[22] Duan G R, Quasi-linear system approaches for aerocraft control: Part 2. Methods and prospects, Journal of Astronautics, 2020, 41(7): 839–849.[23] Duan G R, High-order fully actuated system approaches: Part I. Models and basic procedure, International Journal of Systems Science, 2021, 52(2): 422–435.[24] Duan G R, High-order fully actuated system approaches: Part II. Generalized strict-feedback systems, International Journal of Systems Science, 2021, 52(3): 437–454.[25] Duan G R, High-order fully actuated system approaches: Part III. Robust control and high-order backstepping, International Journal of Systems Science, 2021, 52(5): 955–971.[26] Wang Z and Li Y, Rigid spacecraft robust optimal attitude stabilization under actuator misalignments, Aerospace Science and Technology, 2020, 105(2020): 105990.[27] Sharma R and Tewari A, Optimal nonlinear tracking of spacecraft attitude maneuvers, IEEE Transactions on Control Systems Technology, 2004, 12(5): 677–682.[28] Sharma R and Tewari A, Finite horizon optimal nonlinear spacecraft attitude control, The Journal of the Astronautical Sciences, 2020, 67: 1002–1020.[29] Teo K L, Li B, Yu C J, et al., Applied and computational optimal control, Optimization and Its Applications, Springer, 2021, DOI: 10.1007/978-3-030-69913-0.[30] Duan G R, Quaternion-based satellite attitude control — A direct parametric approach, Proceedings of the 14th International Conference on Control, Automation and Systems: IEEE, Seoul, South Korea, 2014, 935–941.[31] Wang X Y and Duan G R, A direct parametric approach to spacecraft attitude tracking control, International Journal of Automation and Computing, 2017, 14(5): 626–626.[32] Lin M T, Zhang K, and Li B, A direct parametric approach to attitude tracking control for disturbed satellite, Proceedings of 2021 Chinese Intelligent Systems Conference, Springer, Singapore, 2022, 100–108.[33] Guo B Z and Zhao Z L, On convergence of non-linear extended state observer for multi-input multi-output systems with uncertainty, IET Control Theory and Applications, 2012, 6: 2375–2386.[34] Li B, Zhang J W, Dai L, et al., A hybrid offline optimization method for reconfiguration of multi-uav formations, IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(1): 506–520.
 No related articles found!
Viewed
Full text

Abstract