Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

Abstract

On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.

Rigid–Flexible Coupled System Attitude–Orbit Integration Fixed-Time Control

“…Zhang Xianliang et al considered the complex coupling effects between structural module deformation and vibration during transportation, as well as the translational and rotational maneuvers of the assembly robot; they designed an attitude orbit-integrated PD controller based on the relative dynamics model of the rigid torsion system derived from dual quaternions for the problem of the large-scale antenna in-orbit assembly [20]. Sun L et al aimed at addressing the problem of short-range maneuvers of on-orbit service spacecrafts; a dynamics model based on dual quaternion was established and they further designed a fixed-time-tracking adjustment and drive allocation scheme for redundant driven spacecrafts [21].…”