Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics

Haizhou Pan, Vikram Kapila

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we address a tracking control problem for the coupled translational and attitude motion of a spacecraft. Specifically, a nonlinear adaptive control law is developed to ensure global asymptotic tracking of the desired translational and attitude trajectories in the presence of unknown mass and inertia parameters of spacecraft. Using the vectrix formalism the translational and attitude dynamics of spacecraft is modeled, where the mutual coupling in the translational and attitude motion induced by their gravitational interaction is duly accounted. The four-parameter quaternion representation is employed to describe the attitude kinematics of spacecraft in order to enable large orientation maneuvers. Based on the structure of the resulting system dynamics, the filtered translational and attitude tracking error dynamics are developed, which facilitate the transformation of second-order translational and attitude motion error dynamics as first-order equations, thus providing a considerable simplification in control law synthesis/analysis. With the aid of two linear operators, the open-loop filtered tracking error dynamics is parameterized such that the unknown mass and inertia parameters of spacecraft are isolated and can be estimated on-line. Using a Lyapunov framework, nonlinear control and adaptation laws are designed that ensure the global asymptotic convergence of the translational and attitude position tracking errors, despite the presence of unknown mass and inertia parameters of spacecraft. In addition, the form of the filtered tracking error reveals the convergence of translational and attitude velocity tracking errors of spacecraft. An illustrative numerical simulation is presented to demonstrate the effectiveness of the proposed control design methodology for the coupled translational and attitude motion control of spacecraft.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Division - 2001
EditorsM.A. Franchek
Pages643-650
Number of pages8
Volume70
StatePublished - 2002
Event2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States
Duration: Nov 11 2001Nov 16 2001

Other

Other2001 ASME International Mechanical Engineering Congress and Exposition
CountryUnited States
CityNew York, NY
Period11/11/0111/16/01

Fingerprint

Spacecraft
Attitude control
Motion control
Dynamical systems
Kinematics
Trajectories
Computer simulation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Software

Cite this

Pan, H., & Kapila, V. (2002). Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics. In M. A. Franchek (Ed.), Proceedings of the ASME Dynamic Systems and Control Division - 2001 (Vol. 70, pp. 643-650)

Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics. / Pan, Haizhou; Kapila, Vikram.

Proceedings of the ASME Dynamic Systems and Control Division - 2001. ed. / M.A. Franchek. Vol. 70 2002. p. 643-650.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Pan, H & Kapila, V 2002, Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics. in MA Franchek (ed.), Proceedings of the ASME Dynamic Systems and Control Division - 2001. vol. 70, pp. 643-650, 2001 ASME International Mechanical Engineering Congress and Exposition, New York, NY, United States, 11/11/01.
Pan H, Kapila V. Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics. In Franchek MA, editor, Proceedings of the ASME Dynamic Systems and Control Division - 2001. Vol. 70. 2002. p. 643-650
Pan, Haizhou ; Kapila, Vikram. / Adaptive nonlinear control for spacecraft with coupled translational and attitude dynamics. Proceedings of the ASME Dynamic Systems and Control Division - 2001. editor / M.A. Franchek. Vol. 70 2002. pp. 643-650
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