Attitude control with realization of linear error dynamics

Paielli, Russell A.; Bach, R. E.

doi:10.2514/3.11444

Cited by 56 publications

(25 citation statements)

References 6 publications

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“…Assume that the closed-loop dynamics have the linear form (Crassidis Int'l J. of Aeronautical & Space Sci. 12(1), 43-56 (2011) and Junkins, 2004;Paielli and Bach, 1993) (53)…”

Section: Lqg-based Control For Rotational Maneuveringmentioning

confidence: 99%

“…Paielli and Bach (1993) presented linear quadratic regulator (LQR) approach with linearized dynamics using an optimal control design with linearized closed-loop error dynamics for tracking a desired quaternion. This study adopted this linearized equation to take advantage of the simplified equation of motion used to determine the precise attitude control.…”

Section: Lqg-based Control For Rotational Maneuveringmentioning

confidence: 99%

“…Since the vehicle arrived at S3 with nonzero velocity, retro-firing of thrusters was required. To nullify the arrival velocity, the exponential braking law (Paielli and Bach, 1993), characterized by an exponential change of velocity with time, was specified as…”

Section: Guidance Functionmentioning

confidence: 99%

See 2 more Smart Citations

Integrated System for Autonomous Proximity Operations and Docking

Lee¹,

Pernicka²

2011

International Journal of Aeronautical and Space Sciences

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Autonomous rendezvous and docking are important technologies for current and future space programs, including missions such as supply and repair to the International Space Station (ISS) and the exploration of the moon, Mars, and beyond. Proximity operations and docking require extremely delicate and precise translational and rotational maneuverings. During the final approach of the proximity operations phase, the relative position, velocity, attitude and angular rates between the target and the chaser spacecraft must be precisely controlled in order to obtain the required docking interface conditions. As a consequence, precise relative position, velocity and attitude state estimations are required. The first spacecraft rendezvous and docking dates back to the manned US Gemini and Apollo programs (Zimpfer et al., 2005) AbstractAn integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the statedependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A sixdegree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

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“…Assume that the closed-loop dynamics have the linear form (Crassidis Int'l J. of Aeronautical & Space Sci. 12(1), 43-56 (2011) and Junkins, 2004;Paielli and Bach, 1993) (53)…”

Section: Lqg-based Control For Rotational Maneuveringmentioning

confidence: 99%

Section: Lqg-based Control For Rotational Maneuveringmentioning

confidence: 99%

See 1 more Smart Citation

Integrated System for Autonomous Proximity Operations and Docking

Lee¹,

Pernicka²

2011

International Journal of Aeronautical and Space Sciences

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“…The coordinates themselves are not new; they are the elements of what is usually called the principal rotation vector. 1 The geometric perspective is prominent in the approaches to attitude control by Meyer, 2 Crouch, 3 Koditschek, 5 Wen and Kreutz-Delgado, 6 Paielli and Bach 7 and Bullo and Murray. 8 In this paper, we bring together results from these references to clarify the issues in global attitude stabilization and set the stage for our development of new globally stabilizing control laws.…”

Section: Introductionmentioning

confidence: 99%

Geometry and Inverse Optimality in Global Attitude Stabilization

Bharadwaj

Osipchuk

Mease

et al. 1998

Journal of Guidance, Control, and Dynamics

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The problem of globally stabilizing the attitude of a rigid body is considered. Topological and geometric properties of the space of rotations relevant to the stabilization problem, are discussed. Chevalley's exponential coordinates for a Lie group are used to represent points in this space. An appropriate attitude error is formulated and used for control design. A control Lyapunov function approach is used to design globally stabilizing feedback l a ws that have desirable optimality properties. Their performance is compared to the performance of previously developed proportional-derivative t ype control laws. The new control laws achieve the same or greater stabilization rate with less control e ort. Special issues in the Lyapunov stability proofs due to the topology of the space of rotations are identi ed and resolved.

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“…Additionally, DI in particular situations must be local in state space, as it is the case for spacecraft attitude dynamics (Dwyer III, 1984). A paradigm shift was made to DI in (Paielli & Bach, 1993) in the context of spacecraft attitude control. Their approach aims to impose a prescribed dynamics on the errors of spacecraft attitude variables from their desired trajectory values.…”

Section: Introductionmentioning

confidence: 99%

Inertia-Independent Generalized Dynamic Inversion Control of Spacecraft Attitude Maneuvers

Bajodah¹

2011

Advances in Spacecraft Technologies

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Attitude control with realization of linear error dynamics

Cited by 56 publications

References 6 publications

Integrated System for Autonomous Proximity Operations and Docking

Integrated System for Autonomous Proximity Operations and Docking

Geometry and Inverse Optimality in Global Attitude Stabilization

Inertia-Independent Generalized Dynamic Inversion Control of Spacecraft Attitude Maneuvers

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