Spacecraft Anti-unwinding Attitude Control with Actuator Nonlinearities and a Velocity Limit
QL Hu (Beihang University, China), L Li (Harbin Institute of Technology, China) & MI Friswell (Swansea University)
Journal of Guidance, Control, and Dynamics, Vol. 38, No. 10, October 2015, pp. 2042-2050
A novel control law considering various physical constraints, including actuator saturation, dead-zone nonlinearities and a velocity rate limit, is presented in this paper. Stability of the system subject to these input nonlinearities is guaranteed theoretically and satisfaction of the velocity rate limit is also proved explicitly. In addition, the undesired unwinding phenomenon caused by the quaternion attitude representation is eliminated by a novel definition of the attitude error vector, which ensures that the two equilibria are locally uniformly asymptotically stable. Numerical simulations illustrate the spacecraft performance obtained using the proposed controller.
This material has been published in the Journal of Guidance, Control, and Dynamics, Vol. 38, No. 10, October 2015, pp. 2042-2050. Unfortunately the copyright agreement with AIAA does not allow for the PDF file of the paper to be available on this website. However the paper is available from AIAA - see the link below.
Link to paper using doi: 10.2514/1.G000980
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