Kinematic Steering Law for Conically Constrained Torque-Limited Spacecraft Attitude Control

Ramos, Manuel Diaz; Schaub, Hanspeter

doi:10.2514/1.g002873

Cited by 31 publications

(9 citation statements)

References 33 publications

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“…Recalling Theorem1, the time derivate of them satisfies V ≤ 0, Γ′ 𝜔 = 0, which means the pointing constraint (7) will never be violated. When 𝝎 𝐸 𝐸𝐼 ≠ 0 3×1 , the Lyapunov function is replaced by (30), and the threshold can be selected as…”

Section: Angular Velocity Constraintmentioning

confidence: 99%

Constrained output feedback control of spacecraft attitude via explicit reference governor

Dang

Liu

Zemouche

et al. 2023

Preprint

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This paper proposes an explicit reference governor-based control scheme for the velocity-free spacecraft attitude maneuver problem subject to the pointing constraint, the angular velocity constraint, and the input constraint. The proposed two-layer control scheme guarantees asymptotic stability of the attitude while satisfying the aforementioned constraints. The inner layer relies on output feedback control via an immersion and invariance technology-based angular velocity observer, enabling attitude stabilization without measuring angular velocity. By analyzing the geometry of the pointing constraint, the upper bound of the angular velocity, and the optimization solution of the control input, the safety boundary described by the invariant set is obtained in the reference layer. Additionally, we introduce the dynamic factor related to the angular velocity estimation error into the invariant set to prevent states from exceeding the constraint set due to unmeasurable angular velocity information. The shortest guidance path is then designed in the reference layer. Finally, we verify the effectiveness of the proposed constrained attitude control algorithm through numerical simulations.

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Section: Angular Velocity Constraintmentioning

confidence: 99%

Constrained output feedback control of spacecraft attitude via explicit reference governor

Dang

Liu

Zemouche

et al. 2023

Preprint

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“…Our approach is geared towards finding an open-loop algorithm rather than a feedback law; in this regard it differs from approaches such as Ref. [1], [15], or [16], which use artificial potential fields and Lyapunovtype feedback controls. In contrast to these approaches, ours does not exhibit the problem of local minima.…”

Section: Introductionmentioning

confidence: 99%

Attitude maneuvers avoiding forbidden directions

2023

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Many space missions require the execution of large-angle attitude slews during which stringent pointing constraints must be satisfied. For example, the pointing direction of a space telescope must be kept away from directions to bright objects, maintaining a prescribed safety margin. In this paper we propose an open-loop attitude control algorithm which determines a rest-to-rest maneuver between prescribed attitudes while ensuring that any of an arbitrary number of body-fixed directions of light-sensitive instruments stays clear of any of an arbitrary number of space-fixed directions. The approach is based on an application of a version of Pontryagin’s Maximum Principle tailor-made for optimal control problems on Lie groups, and the pointing constraints are ensured by a judicious choice of the cost functional. The existence of up to three first integrals of the resulting system equations is established, depending on the number of light-sensitive and forbidden directions. These first integrals can be exploited in the numerical implementation of the attitude control algorithm, as is shown in the case of one light-sensitive and several forbidden directions. The results of the test cases presented confirm the applicability of the proposed algorithm.

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“…Most of existing methods for attitude motion planning with keep-out cones can be classified into the following four main groups, see also [24,27]. One group uses path planning methods to search for a path from the initial attitude to the final attitude avoiding the keep-out cones.…”

Section: Introductionmentioning

confidence: 99%

“…The last group of techniques is based on potential functions that have a minimum at the desired attitude and large values around the exclusion cones. The potential function is employed to design a control law based either on Lyapunov theory [1,15,20,22,24,26,27] or on optimal control [31]. Those methods are less computationally demanding.…”

Section: Introductionmentioning

confidence: 99%

“…Consequently, a quaternion-based motion planning may exhibit the undesired unwinding behavior [10]. In other works, attitude is represented by modified Rodrigues parameters [26,27,30], which are both singular and nonunique. It is possible to employ modified Rodrigues parameters avoiding singularities by taking advantage of the nonuniqueness, and also overcoming the unwinding phenomenon.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Minimum-Time Spacecraft Attitude Motion Planning Using Objective Alternation in Derivative-Free Optimization

Celani

Bruni

2021

J Optim Theory Appl

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This work presents an approach to spacecraft attitude motion planning which guarantees rest-to-rest maneuvers while satisfying pointing constraints. Attitude is represented on the group of three dimensional rotations. The angular velocity is expressed as weighted sum of some basis functions, and the weights are obtained by solving a constrained minimization problem in which the objective is the maneuvering time. However, the analytic expressions of objective and constraints of this minimization problem are not available. To solve the problem despite this obstacle, we propose to use a derivative-free approach based on sequential penalty. Moreover, to avoid local minima traps during the search, we propose to alternate phases in which two different objective functions are pursued. The control torque derived from the spacecraft inverse dynamics is continuously differentiable and vanishes at its endpoints. Results on practical cases taken from the literature demonstrate advantages over existing approaches.

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Kinematic Steering Law for Conically Constrained Torque-Limited Spacecraft Attitude Control

Abstract: DateThe final copy of this thesis has been examined by the signatories, and we find that both the content and the form meet acceptable presentation standards of scholarly work in the above mentioned discipline.

Cited by 31 publications

References 33 publications

Constrained output feedback control of spacecraft attitude via explicit reference governor

Constrained output feedback control of spacecraft attitude via explicit reference governor

Attitude maneuvers avoiding forbidden directions

Minimum-Time Spacecraft Attitude Motion Planning Using Objective Alternation in Derivative-Free Optimization

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