Nonlinear Attitude Control of a Tether-Connected Multi-Satellite in Three-Dimensional Space

Abstract

The objective of the current research is to analyze the attitude dynamics and control of a tethered satellite formation flying where the tethered units are modeled as extended rigid bodies. The three-inline array system is used in this study, and the general formulation of the equations of motion of the system is obtained through a Lagrangian approach. In this research, attitude motions of the tethered satellite system are analyzed in a three-dimensional free-space system to complement previous works. The state-dependent Riccati equation (SDRE) controller is used to regulate the attitude errors. The stability region for the SDRE-controlled tethered satellite system is also estimated using a numerical method to show globally asymptotic stability for the control method. Centralized and decentralized approaches are applied to the dynamic system to compare the performance of controlling the attitude motion. The SDRE controller performs well in both the centralized and decentralized approaches for the attitude control of tethered satellites in formation flying.

Bio-Inspired Adaptive Cooperative Control of Heterogeneous Robotic Networks

“…Recent advances in computation and communication technology further stimulated the growth in the field with broader applications such as unmanned aerial vehicles (UAVs), 28,32 spacecraft formation flying, 2,3 autonomous underwater vehicles (AUVs), 27 and multi-robot systems networks. 7 Often times, cooperative control systems require mutual synchronization of multiple motions and tasks.…”

SDRE-Based Near Optimal Control System Design for PM Synchronous Motor

“…Hence for ‖x(0)‖ ≤ δ 0 , it is given that ‖x(t)‖ < γ ≤ δ 0 for all t > 0 and x = 0 is stable. Besides, (21) holds for all t > 0 in case that ‖x(0)‖ ≤ δ. It can be concluded that the nonlinear system is asymptotically stable at the origin (x = 0) because (β -ζG) > 0.…”

“…Therefore, the SDRE approach can be an attractive alternative to many engineers who design the controllers of the nonlinear systems. Comprehensive simulation studies have demonstrated the effectiveness of the SDRE method as a successful technique for controlling an artificial human pancreas [14], high-pressure chemical vapor deposition reactors [15], spacecrafts [16], robots [17], ducted fans [18], magnetic levitation systems [19], tandem hot metal strip rolling process [20], and tethered satellite systems [21]. Recently, the SDRE control method has been applied to control the speed of the PMSMs [22]- [23].…”

Coordinated stabilization of tumbling targets using tethered space manipulators

“…The tether tension/length control law was designed to control the attitude of a tethered satellite formation as described in the literature [15]. Chang [16] analyzed the attitude dynamics and control of a three-inline tethered satellite flying formation, and the state-dependent Riccati equation controller was used to regulate the attitude errors. Carlo [17] proposed a method to control the position and attitude of the two tethered units using two passive dampers placed at the tether attachment point.…”