Adaptive control of space proximity missions with constrained relative states, faults and saturation

Sun, Liang; Jiang, Jingjing

doi:10.1016/j.actaastro.2020.05.016

Cited by 16 publications

(4 citation statements)

References 31 publications

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“…According to the simulation results shown in 14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64, 65, 66, 67, 68 and 69, it can be claimed the designed controllers were successful in their mission to pursue the target.…”

Section: Simulations and Results Analysismentioning

confidence: 99%

“…very high control effort, which leads to unreasonable fuel consumption is the main drawback of this method. Excellent work was done by Liang Sun 45 , who developed a saturated adaptive fault-tolerant relative pose controller by considering constrained relative states for space proximity missions. But this approach is somehow difficult to use because there are too many controller parameters to tune.…”

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confidence: 99%

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Coupled position and attitude control of a servicer spacecraft in rendezvous with an orbiting target

Kasiri

Saberi

2023

Sci Rep

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Rendezvous is one of the fundamental phases of on-orbit servicing (OOS) missions. Since it requires high accuracy and safety, modeling is an indispensable part. Therefore, this article puts forward an approach for boosting the exactitude of the final proximity phase of a servicer spacecraft using precise modeling. Unlike other similar works that solely use linear models to design controllers, this paper employs a fully nonlinear model and considers most possible uncertainties and disturbances. In this regard, first a complete nonlinear relative pose (i.e., concurrent position attitude) motion dynamic is developed, which includes (1) the role of the reaction wheels and (2) the major environmental force and torque model. Second, taking the thruster's adverse torque into account, two sliding mode-based control techniques with different nonlinear sliding surfaces are designed. Moreover, the Lyapunov stability criterion is used to handle high nonlinearity effects, control input saturation, actuator misalignment, external disturbance torque/force, measurement error, uncertainties of both inertia parameters, and control inputs. Even the PWPF modulator of the thrusters has been considered to make the outcomes more realistic. Finally, three different scenarios are comprehensively simulated to illustrate the feasibility and efficiency of the designed scheme. The results prove that the proposed closed-form controller is more executable to implement than other existing approaches.

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Section: Simulations and Results Analysismentioning

confidence: 99%

mentioning

confidence: 99%

Coupled position and attitude control of a servicer spacecraft in rendezvous with an orbiting target

Kasiri

Saberi

2023

Sci Rep

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“…Both element-wise and norm-wise adaptive estimation techniques are used in this paper for handling parametric uncertainties, kinematic couplings, and matched and mismatched disturbances. An adaptive nonlinear control approach is developed by 32 for synthesizing the relative pose controller of autonomous space proximity missions under actuator saturation, actuator faults, relative state constraints, dynamic couplings, parametric uncertainties, and unknown disturbances. Nevertheless, this strategy is rather challenging to implement due to the large number of controller parameters that should be tuned.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear adaptive pose motion control of a servicer spacecraft in approximation with an accelerated tumbling target

Kasiri,

Fani Saberi

2024

Sci Rep

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Removing a limited number of large debris can significantly reduce space debris risks. These bodies are generally exposed to extreme environmental disturbance torques or consecutive accidents due to their large wet area, which causes them to experience accelerated high-rate tumbling motion. The existing literature has adequately explored the approximation operations with non-cooperative targets exhibiting 3-axis tumbling motion. However, the research gap lies in the lack of attention given to addressing this approximation for targets undergoing accelerated motion. Agile, accurate, and large-angle maneuvers are three common necessities for safely capturing such targets. Changes in the moment of inertia brought on by fuel slushing cannot be disregarded during such a maneuver. To deal with nonlinearities, adverse coupling effects, actuator saturation constraints, time-varying moment of inertia, and external disturbances that worsen during accelerated agile large-angle maneuvers, a novel adaptive control approach is developed in this paper. The controller's main advantage is its adjustable desired acceleration, which maintains its performance even when dealing with accelerated motion. The control law is directly synthesized from the nonlinear relative equations of motion, without any linearization or simplification of the system dynamics, making it robust to a variety of orbital elements and target behaviors. Adaptation laws are extracted from the Lyapunov stability theorem in a way that guarantees asymptotic stability. Moreover, control actuator roles (delay, saturation, and allocation) are accounted for in modeling and simulation. Finally, a comprehensive numerical simulation based on three different realistic and strict scenarios is carried out to demonstrate the effectiveness and performance of the proposed control approach. The controller's robustness against time-varying dynamic parameters (sharp and sudden change, smooth and slow change, and periodic change) is extensively demonstrated through simulation.

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“…Among various representations of the rigid body attitude and position (pose), such as quaternion/modified Rodrigues parameters plus position vectors [6][7][8][9], twistors [10,11], and homogeneous transformation matrices [12,13], dual quaternions with only eight parameters have emerged to be a suitable one since it can describe the pose in a unified and globally non-singular way, and capture the couplings in an inherent and implicit way [14,15]. Besides, according to the principle of transference, most properties of quaternions can be directly carried over to dual quaternions.…”

Section: Introductionmentioning

confidence: 99%

Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

Peng

Gong

2022

IET Control Theory & Appl

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Due to the high reliability and simple adjustment, proportional‐integral‐derivative (PID) control is widely used in practical systems. However, intrinsic non‐linearity of the pose dynamics hinders the design of a PID pose controller. Besides, topological constraints on the rigid body configuration space SE(3) prevent a continuous or a memoryless discontinuous state feedback control from achieving robust global stability. For these two issues, this paper develops a dual quaternion‐based hybrid PID pose tracking control strategy, where the newly introduced integral term can compensate for constant disturbances, and the hysteretic switching‐based hybrid feedback can avoid both unwinding phenomenon and noise sensitivity caused by the topological constraints. In addition, by adjusting the hysteresis width, the proposed hybrid PID controller can also become a continuous or a discontinuous PID controller. The global asymptotic stability in the presence of constant disturbance forces and torques, and robustness to measurement noises are proven by the hybrid system stability theory. Numerical simulations for an earth‐orbiting spacecraft pose tracking mission are conducted to illustrate and compare the performances of the proposed hybrid, continuous and discontinuous PID pose tracking control laws.

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Adaptive control of space proximity missions with constrained relative states, faults and saturation

Cited by 16 publications

References 31 publications

Coupled position and attitude control of a servicer spacecraft in rendezvous with an orbiting target

Coupled position and attitude control of a servicer spacecraft in rendezvous with an orbiting target

Nonlinear adaptive pose motion control of a servicer spacecraft in approximation with an accelerated tumbling target

Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

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