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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2012, Vol. 33 ›› Issue (9): 1697-1705.

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Direct Adaptive Attitude Tracking Control of Flexible Spacecraft Based on Backstepping Method

LIU Min, XU Shijie, HAN Chao   

  1. School of Astronautics, Beihang University, Beijing 100191, China
  • Received:2012-02-24 Revised:2012-03-18 Online:2012-09-25 Published:2012-09-22

Abstract: A backstepping direct adaptive control strategy is proposed for the attitude tracking of large flexible spacecraft with parameter uncertainties. First, the almost strictly positive real property of a flexible spacecraft dynamics subsystem is confirmed and a reference model with ideal control performance is designed. Second, a consistent output feedback intermediate control law is designed for the kinematics subsystem described by attitude quaternion, which can make the attitude quaternion track the reference output asymptotically. Then backing a step, a backstepping direct adaptive attitude tracking controller is derived for the parameter unknown dynamics subsystem based on the nonlinear direct adaptive control theory and the Lyapunov stability theory, and its close-loop stability is proved. Finally, the control strategy is employed to design an attitude tracking controller for a flexible spacecraft. Numerical simulation results indicate that the controller can damp the vibration of the flexible components of the spacecraft, and it is effective for its control.

Key words: flexible spacecraft, uncertainty, attitude control, backstepping control, nonlinear direct adaptive control, positive real property

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