基于横截函数的欠驱动航天器姿态跟踪方法

doi:10.7527/S1000-6893.2024.28910

Abstract

Abstract:

The attitude tracking of an underactuated spacecraft with two independent actuators of the momentum exchange type is considered， and an arbitrary attitude trajectory tracking control law is proposed based on the transverse function. The kinematic equations of the rigid spacecraft attitude are established using the three-dimensional special orthogonal group $S O (3)$ . Based on the momentum conservation condition， the kinematic equations are unified with the kinematics as a reduced-order system with the output angular momentum of the actuator as the control input. The transverse condition is used to construct the transverse function based on the Lie algebraic rank condition， which is essentially an embedded submanifold that can approach the equilibrium point arbitrarily. The adjoint system of the reduced-order tracking control system is established based on the transverse function and the attitude error. For the accompanying system， a smooth static feedback control law is proposed， and the ultimately bounded stability of the closed-loop system for arbitrary trajectories is proved by using the Morse function. Furthermore， for the feasible trajectory， the parameter adjustment law of the transverse function is designed based on the zero dynamic system， so that the transverse function converges to the equilibrium point of the tracking system at zero dynamic， and the closed-loop system is proved to have exponential stability. Finally， the effectiveness of the proposed controller is verified by numerical simulation.

Key words: underactuation, spacecraft, attitude control, Lie group, transverse function, feasible trajectory

CLC Number:

V488.2

Chao DUAN, Xiaodong SHAO, Qinglei HU, Huaining WU. Attitude tracking of underactuated spacecraft based on transverse function[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628910-628910.

Figures/Tables 10

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

References 28

1	TAFAZOLI M. A study of on-orbit spacecraft failures［J］. Acta Astronautica， 2009， 64（2-3）： 195-205.
2	UO M， SHIRAKAWA K， HASHIMOTO T， et al. Attitude control challenges and solutions for hayabusa spacecraft［C］∥ Proceedings of the AIAA/AAS Astrodynamics Specialist Conference and Exhibit. Reston： AIAA， 2006.
3	CROUCH P. Spacecraft attitude control and stabilization： applications of geometric control theory to rigid body models［J］. IEEE Transactions on Automatic Control， 1984， 29（4）： 321-331.
4	KRISHNAN H， REYHANOGLU M， MCCLAMROCH H. Attitude stabilization of a rigid spacecraft using two control torques： a nonlinear control approach based on the spacecraft attitude dynamics［J］. Automatica， 1994， 30（6）： 1023-1027.
5	BROCKETT R W. Asymptotic stability and feedback stabilization［J］. Differential Geometric Control Theory， 1983： 181-191.
6	HORRI N M， PALMER P. Practical implementation of attitude-control algorithms for an underactuated satellite［J］. Journal of Guidance， Control， and Dynamics， 2012， 35（1）： 40-45.
7	TSIOTRAS P， LUO J H. Control of underactuated spacecraft with bounded inputs［J］. Automatica， 2000， 36（8）： 1153-1169.
8	MORIN P， SAMSON C. Time-varying exponential stabilization of a rigid spacecraft with two control torques［J］. IEEE Transactions on Automatic Control， 1997， 42（4）： 528-534.
9	GUI H C， VUKOVICH G. Robust adaptive spin-axis stabilization of a symmetric spacecraft using two bounded torques［J］. Advances in Space Research， 2015， 56（11）： 2495-2507.
10	GODARD， KUMAR K D. Fault tolerant reconfigurable satellite formations using adaptive variable structure techniques［J］. Journal of Guidance， Control， and Dynamics， 2010， 33（3）： 969-984.
11	崔祜涛，程小军. 考虑输入饱和的两飞轮驱动航天器视线轴控制［J］. 航空学报， 2013， 34（3）： 644-654.
	CUI H T， CHENG X J. Line-of-sight pointing control of spacecraft actuated by two flywheels considering input saturation［J］. Acta Aeronautica et Astronautica Sinica， 2013， 34（3）： 644-654 （in Chinese）.
12	BEHAL A， DAWSON D， ZERGEROGLU E， et al. Nonlinear tracking control of an underactuated spacecraft［J］. Journal of Guidance， Control， and Dynamics， 2002， 25（5）： 979-985.
13	郭延宁，宋斌，马广富. 基于势函数法的双飞轮航天器姿态机动控制［C］∥第三十二届中国控制会议论文集（D卷）. 北京：中国自动化学会控制理论专业委员会， 2013： 5132-5137.
	GUO Y N， SONG B， MA G F. Attitude maneuver control of two-flywheel spacecraft using potential function method［C］∥Proceedings of the 32nd Chinese Control Conference， Technical Committee on Control Theory （Volume D）. Beijing： Chinese Association of Automation， 2013： 5132-5137 （in Chinese）.
14	LI H P， YAN W S， SHI Y. Continuous-time model predictive control of under-actuated spacecraft with bounded control torques［J］. Automatica， 2017， 75： 144-153.
15	PETERSEN C D， LEVE F， KOLMANOVSKY I. Model predictive control of an underactuated spacecraft with two reaction wheels［J］. Journal of Guidance， Control， and Dynamics， 2017， 40（2）： 320-332.
16	MORIN P， SAMSON C. Practical stabilization of driftless systems on Lie groups： the transverse function approach［J］. IEEE Transactions on Automatic Control， 2003， 48（9）： 1496-1508.
17	LEE U， MESBAHI M. Feedback control for spacecraft reorientation under attitude constraints via convex potentials［J］. IEEE Transactions on Aerospace and Electronic Systems， 2014， 50（4）： 2578-2592.
18	LEE D， SANYAL A K， BUTCHER E A. Asymptotic tracking control for spacecraft formation flying with decentralized collision avoidance［J］. Journal of Guidance， Control， and Dynamics， 2015， 38（4）： 587-600.
19	LEE D， VUKOVICH G. Robust adaptive terminal sliding mode control on SE（3） for autonomous spacecraft rendezvous and docking［J］. Nonlinear Dynamics， 2016， 83（4）： 2263-2279.
20	LEE T. Geometric tracking control of the attitude dynamics of a rigid body on SO（3）［C］∥ Proceedings of the 2011 American Control Conference. Piscataway： IEEE Press， 2011： 1200-1205.
21	BIGGS J D， BAI Y L， HENNINGER H. Attitude guidance and tracking for spacecraft with two reaction wheels［J］. International Journal of Control， 2018， 91（4）： 926-936.
22	BIGGS J D， HENNINGER H C. Motion planning on a class of 6-D lie groups via a covering map［J］. IEEE Transactions on Automatic Control， 2019， 64（9）： 3544-3554.
23	MORIN P， SAMSON C. Control of nonholonomic mobile robots based on the transverse function approach［J］. IEEE Transactions on Robotics， 2009， 25（5）： 1058-1073.
24	MORIN P， SAMSON C. Control with transverse functions and a single generator of underactuated mechanical systems［C］∥ Proceedings of the 45th IEEE Conference on Decision and Control. Piscataway： IEEE Press， 2007： 6110-6115.
25	GUI H C， VUKOVICH G， XU S J. Attitude tracking of a rigid spacecraft using two internal torques［J］. IEEE Transactions on Aerospace and Electronic Systems， 2015， 51（4）： 2900-2913.
26	BULLO F， LEWIS A D. Geometric control of mechanical systems： modeling， analysis， and design for simple mechanical control systems［M］. New York： Springer， 2005.
27	GUI H C， JIN L， XU S J. Attitude maneuver control of a two-wheeled spacecraft with bounded wheel speeds［J］. Acta Astronautica， 2013， 88： 98-107.
28	SLOTINE J J E， LI W P. Applied nonlinear control［M］. Englewood Cliffs： Prentice Hall， 1991.

[1]	Yuqing QIU, Yan LI, Jinxi LANG, Yuxian LIU, Zhong WANG. Robust adaptive attitude control of high-speed helicopters in transition mode [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(9): 529927-529927.
[2]	Honglin ZHANG, Jianjun LUO, Weihua MA. Spacecraft game decision making for threat avoidance of space targets based on machine learning [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 329136-329136.
[3]	Ruitong ZHANG, Lei WANG, Jiajia LIU, Jihong ZHU. Lightweight design of space trusses considering joint parameterization [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(5): 529715-529715.
[4]	Jidong SU, Weilin XU, Shenghua ZHAI, Wei WANG, Yating HE. Practice and prospect of space AD hoc network technology [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(5): 529912-529912.
[5]	Sai ZHANG, Zhen YANG, Xiangnan DU, Yazhong LUO. Threat avoidance strategy of spacecraft maneuvering approach based on orbital reachable domain [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(4): 328778-328778.
[6]	Kai NING, Baolin WU. Event-triggered-based orbit maintenance control for spacecraft subsatellite point control [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(10): 329412-329412.
[7]	Kaixin CUI, Guangren DUAN. High⁃order fully actuated anti⁃disturbance control for a type of combined spacecraft based on disturbance observer [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628892-628892.
[8]	Leyan FANG, Han MENG, Mingzhe HOU. Iterative learning sliding mode control with precise parameter estimation and its application [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628889-628889.
[9]	Guangquan DUAN, Guoping LIU. Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628837-628837.
[10]	Ming LU, Xueqin CHEN, Fan WU, Xibin CAO. Attitude maneuver control of spacecraft based on second⁃order fully actuated system under attitude constraints [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628958-628958.
[11]	Bing XIAO, Haichao ZHANG. Reinforcement learning robust optimal control for spacecraft attitude stabilization [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628890-628890.
[12]	Dawei ZHANG, Guoping LIU. A high⁃order fully actuated predictive control approach of spacecraft flying⁃around under time⁃variant communication constraints [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628633-628633.
[13]	Ming LIU, Ruichao FAN, Shi QIU, Xibin CAO. Spacecraft attitude-orbit prescribed performance control based on fully actuated system approach [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628313-628313.
[14]	Chenyang LIU, Dawei WU, Yize GUO, Xinsai LV, Jiani ZHOU, Shuyi SHAO. Robust adaptive attitude control of quadrotor with uncertain strong coupling [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727645-727645.
[15]	Linkun HE, Wenchao XUE, Ran ZHANG, Huifeng LI. Guidance and control for powered descent and landing of launch vehicles: Overview and outlook [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(23): 628462-628462.

Attitude tracking of underactuated spacecraft based on transverse function

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 10

References 28

Related Articles 15

Recommended Articles

Metrics

Comments