Backstepping Control for Satellite Attitude Control Using Spherical Control Moment Gyro

Mino, Ayaka; Uchiyama, Kenji; Masuda, Kai

doi:10.23919/siceiscs.2019.8758769

Cited by 3 publications

(3 citation statements)

References 5 publications

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“…This algorithm starts by creating randomly initial population P op formed by m chromosomes (m = 10). The structure of this population is given as follows (27): (28) with i = 1, ..., m.…”

Section: Principle Of the Genetic Algorithmmentioning

confidence: 99%

“…This control system aims to reject the discontinuities at the level of the upper derivatives of the system input. The backstepping control system is used in many several works such as [25,26,27,28] in order to control the mobile robot. The basic idea of the backstepping method is to analyze the system and to design the controller which makes the error dynamics stable.…”

Section: Introductionmentioning

confidence: 99%

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Backstepping Controller for Mobile Robot in Presence of Disturbances and Uncertainties

Hassani,

Rekik

2023

IJRCS

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The objective of this work is to devise an effective control system for addressing the trajectory tracking challenge in nonholonomic mobile robots. Two primary control approaches, namely kinematic and dynamic strategies, are explored to achieve this goal. In the kinematic control domain, a backstepping controller (BSC) is introduced as the core element of the control system. The BSC is utilized to guide the mobile robot along the desired trajectory, leveraging the robot’s kinematic model. To address the limitations of the kinematic control approach, a dynamic control strategy is proposed, incorporating the dynamic parameters of the robot. This dynamic control ensures real-time control of the mobile robot. To ensure the stability of the control system, the Lyapunov stability theory is employed, providing a rigorous framework for analyzing and proving stability. Additionally, to optimize the performance of the control system, a genetic algorithm is employed to design an optimal control law. The effectiveness of the developed control approach is demonstrated through simulation results. These results showcase the enhanced performance and efficiency achieved by the proposed control strategies. Overall, this study presents a comprehensive and robust approach for trajectory tracking in nonholonomic mobile robots, combining kinematic and dynamic control strategies while ensuring stability and performance optimization.

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“…This algorithm starts by creating randomly initial population P op formed by m chromosomes (m = 10). The structure of this population is given as follows (27): (28) with i = 1, ..., m.…”

Section: Principle Of the Genetic Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Backstepping Controller for Mobile Robot in Presence of Disturbances and Uncertainties

Hassani,

Rekik

2023

IJRCS

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“…Attitude stabilization aims at orienting a physical object in relation with a specified inertial frame of reference and thus it applies in several engineering contexts such as aerospace or aerial robotics. Over the past twenty years numerous continuous-time quaternion-based attitude control laws have been proposed based on several design methodologies such as feedback-linearization [1], [2], backstepping [3], sliding mode [4], optimal control or learning [5], [6]. Among these, the ones relying upon passivity-based control (PBC) are outstanding as providing, in general, simple linear control laws [7]- [9] in the form of P(I)D [10].…”

Section: Introductionmentioning

confidence: 99%

Quaternion-Based Attitude Stabilization via Discrete-Time IDA-PBC

Mattioni

Moreschini

Monaco

et al. 2022

IEEE Control Syst. Lett.

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In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based control (PBC) and the recently proposed Hamiltonian representation of discrete-time nonlinear dynamics. Approximate solutions are provided with simulations illustrating performances.

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