Linearization in satellite attitude control with modified Rodriguez parameters

Doruk, Reşat Özgür

doi:10.1108/00022660910954691

Cited by 7 publications

(4 citation statements)

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“…The most common and direct way to represent system attitude in 3D kinematics is using the roll-pitchheading angles, but this attitude model famously suffers from the Gimbal Lock phenomenon when its pitch is approaching ±90 degrees in inertial dead reckoning. As a result, one may adopt alternative attitude models that do not suffer from Gimbal Lock, including: the Direction Cosine Matrix (DCM) representation [Choukroun et al, 2010;Wang and Rajamani, 2018], the axis-angle representation [Özgür Doruk, 2009;Meng et al, 2010], and the quaternion representation [Zhu et al, 2021;Yang, 2012;Sabatini, 2006]. There is a significant body of research exploring the efficiency of these alternative attitude models within the scope of traditional IMU-centered multisensor integrated navigation systems [e.g.…”

Section: Introductionmentioning

confidence: 99%

Three Attitude Models and their Characterization in the Generic Multisensor Integration Strategy for Kinematic Positioning and Navigation

Brunson,

Wang

2023

JGPS

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This research aims at further completing our novel Generic Multisensor Integration Strategy (GMIS) with the systematic development of three alternate attitude models, i.e., roll-pitch-heading (RPH), direction cosine matrix (DCM), and quaternion. The GMIS' potential for a true sensor level data fusion is leveraged to its full extent here by facilitating comprehensive error analysis framework in Kalman filtering. A comparative analysis between the solutions resulted from the GMIS associated with each attitude model have been analysed and compared through real road test data. The attitude models were found to perform very consistently, exhibiting the same behaviours in the residuals of the process noise and measurement vectors along with the estimated variance components. Besides, an analysis was conducted to investigate how each attitude model reacts to a sudden trajectory variation captured by the IMU. Each attitude model still performed consistently, but the DCM model in particular exhibited resistance to absorbing erroneous observations into its process noise estimates.

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Section: Introductionmentioning

confidence: 99%

Three Attitude Models and their Characterization in the Generic Multisensor Integration Strategy for Kinematic Positioning and Navigation

Brunson,

Wang

2023

JGPS

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“…When developing a satellite attitude control system (SACS), a linear PD controller is usually used [1][2][3][4][5][6][7][8][9][10][11][12][13]. In this case, the dynamics of the SACS are described by nonlinear differential equations, and a key question is whether the dynamic equations of a spacecraft can be represented in a linear form.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, in general, linearized dynamic equations are used to analyze the stability of SACS motion [1][2][3][4]7,9,10,12]. However, one disadvantage of using linearized equations is their approximation of the SACS dynamics.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis of a Nonlinear Satellite Attitude Control System Using an Exact Linear Model

Moldabekov,

Sukhenko,

Orazaly

et al. 2023

Mathematics

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This study aims to analyze the nonlinear dynamics of a satellite attitude control system equipped with reaction wheels and a PD controller. Based on the angular momentum conservation theorem for a closed mechanical system, the nonlinear equations of the attitude control system dynamics are presented as a linear system of differential equations with time-varying parameters. The asymptotic properties of the angular momentum of a mechanical system including a satellite and reaction wheels as rigid bodies are investigated. A relation has been established between the dynamic parameters of the attitude control system and the initial value of the angular momentum of the satellite. The issue of asymptotic stability for differential equations with time-varying parameters is simplified to the asymptotic stability problem for the ultimate homogeneous system of linear differential equations with constant elements. The dependencies of the dynamic parameters of the attitude control system on the constant parameters of this ultimate system of linear differential equations, as well as the initial values of the satellite’s angular momentum, enable us to apply proven and effective engineering methods. These methods are used not only for analyzing the stability of the control system but also for synthesizing the parameters of the control law based on the quality requirements of transient processes such as the stability margin, responsiveness, oscillation, transient time, and overshoot. In this case, the calculation of the control law parameters will be grounded in exact equations, not on approximate equations of the control system dynamics obtained by linearization.

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“…This scenario is important to reorientation, attitude tracking and observation of moving objectives. The modified Rodrigues parameters (MRPs) Schaub and Junkins (2003) and Ozgur Doruk (2009) are used to represent attitude kinematics and dynamics equations. A manifold called fast sliding mode (FSM, or FTSM in Feng et al (2001) and Yu and Man (2002)) is introduced to improve the robustness of the control system, and the FSM is proven to possess better convergence rate than either the linear‐hyperplane‐based sliding mode (LSM) or the terminal sliding mode (TSM).…”

Section: Introductionmentioning

confidence: 99%

Attitude coordination of satellite swarms with communication delays

Liang

Sun²

2013

Aircraft Engineering and Aerospace Technology

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PurposeThis paper aims to investigate the fast attitude coordinated control problem for rigid satellite swarms with communication delays.Design/methodology/approachBased on behavior‐based control approach, the attitude control system is designed to guarantee that the attitude of the satellite swarm converge to a dynamic reference state in finite time. A fast sliding mode is developed to improve the convergence rate and robustness of the control system. All the effects of communication delays, parameter uncertainties and external disturbances are taken into account simultaneously, and the communication topology of the satellite swarm can be arbitrary types. Numerical simulations are provided to demonstrate the analytic results.FindingsDespite the existence of communication delays, parameter uncertainties and external disturbances, the stability of the closed‐loop system can be successfully guaranteed and the proposed control strategies are effective to overcome these unexpected phenomena subject to arbitrary communication topology.Originality/valueThis paper introduces a fast terminal sliding mode control method which can guarantee the fast convergence of the attitude state of the satellite swarm in the presence of communication delays, switched communication topology, parameter uncertainties and external disturbances.

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Linearization in satellite attitude control with modified Rodriguez parameters

Cited by 7 publications

References 1 publication

Three Attitude Models and their Characterization in the Generic Multisensor Integration Strategy for Kinematic Positioning and Navigation

Three Attitude Models and their Characterization in the Generic Multisensor Integration Strategy for Kinematic Positioning and Navigation

Dynamics Analysis of a Nonlinear Satellite Attitude Control System Using an Exact Linear Model

Attitude coordination of satellite swarms with communication delays

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