Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control

Kristiansen, Bjørn Andreas; Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy

doi:10.1016/j.ifacol.2020.12.1923

Cited by 10 publications

(12 citation statements)

References 15 publications

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“…The z-axis points in the direction of the Earth's center of mass, the x-axis points in the direction of the orbit velocity vector, while the yaxis completes the right-handed coordinate system. The unit vectors of the orbit frame are defined as [12]…”

Section: A Coordinate Framesmentioning

confidence: 99%

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Maximum Hands-Off Attitude Control

Schaanning

Kristiansen

Gravdahl

2022

2022 American Control Conference (ACC)

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In this paper, we explore the use of maximum hands-off control for attitude control of a spacecraft actuated by reaction wheels. The maximum hands-off, or L0-optimal, controller aims to find the sparsest control signal among all admissible control signals. L0-optimal problems are generally hard to solve as L0-cost functions are discontinuous and nonconvex. Previous research have investigated methods to approximate the L0-norm in the cost function, for instance by using an L1-norm. We propose an approach to the maximum hands-off control problem for spacecraft attitude control involving an L0cost function relaxed through complementarity constraints. The controller is applied to the spacecraft attitude control problem, and the performance of the maximum hands-off controller is compared to that of the L1-optimal controller. Simulations of a 6U CubeSat were conducted using CasADi as the primary optimization tool, and the L1-and L0-optimal control problems were discretized using direct multiple-shooting and solved using the IPOPT solver. In addition to these results, we propose a new control scheme, called moving maximum hands-off control, which lets the user specify in which time interval the control should occur, and then aims to find the sparsest control among all admissible controls based on this information. The moving maximum hands-off controller is demonstrated to be as sparse as the maximum hands-off controller for some spacecraft maneuvers.

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Section: A Coordinate Framesmentioning

confidence: 99%

“…For this reason the wheel frame may not be a right handed coordinate frame for most reaction wheel configurations. The matrix A ∈ R 3×n maps the wheel frame to the body frame as follows [12]…”

Section: A Coordinate Framesmentioning

confidence: 99%

Maximum Hands-Off Attitude Control

Schaanning

Kristiansen

Gravdahl

2022

2022 American Control Conference (ACC)

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“…Theoretical results on sparse control have been actively reported for various systems, including stochastic control systems [6], infinite-dimensional systems [7], discretetime linear systems [8]- [10], and nonlinear systems [11], [12]. Additionally, applications in diverse fields have been proposed, such as thermally activated building systems (TABS) [13], mobility networks [14], quadrotors [15], spacecrafts [16]- [18], and robotics [19].…”

Section: Introductionmentioning

confidence: 99%

Design of Sparse Control With Minimax Concave Penalty

Hayashi,

Ikeda,

Nagahara

2024

IEEE Control Syst. Lett.

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In this paper, we propose a novel computational method for sparse control, also known as maximum hands-off control, using the minimax concave penalty. The sparse control problem is formulated as an L 0 -optimal control problem, which is known to be hard to solve. To overcome this difficulty, we propose using the minimax concave penalty as a surrogate for the L 0 norm. We demonstrate the equivalence between the original and proposed control problems without relying on the normality assumption, which is typically required when approximating the L 0 norm with the L 1 norm. Furthermore, we present an effective numerical algorithm for the proposed optimal control based on the Alternating Direction Method of Multipliers (ADMM). A design example is shown to illustrate the effectiveness of the proposed method.

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“…In these two improved STSM algorithms, extra linear feedback terms of the tracking error, which have relatively fast convergence of the sliding variable when it is far from zero, are added, thus improving the convergence rate of the sliding variable. To date, these two improved STSM algorithms, especially the GSTSM algorithm, have been applied to several advanced control systems, including those for adjustable-speed IM and PMSM drive systems [64,65], servo systems [66][67][68], aircraft [69][70][71][72], and robots [73,74]. However, the GSTSM speed controller for the vector-controlled SynRM drive system has yet to be explored.…”

Section: Introductionmentioning

confidence: 99%

Disturbance-Observer-Based Sliding-Mode Speed Control for Synchronous Reluctance Motor Drives via Generalized Super-Twisting Algorithm

Liu

2024

Actuators

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In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller employs the generalized super-twisting sliding-mode (GSTSM) algorithm to construct both the speed controller and the disturbance observer. The GSTSM speed controller is utilized to stabilize the speed tracking error dynamics in finite time, while the GSTSM disturbance observer compensates for the total disturbance in the speed tracking error dynamics, which includes external disturbances and parametric uncertainties. Under the framework of the constant direct-axis current component vector control strategy for the SynRM drive system, comparative simulation studies are conducted among the standard STSM speed controller, the GSTSM speed controller, the composite speed controller using a GSTSM speed controller and a standard STSM disturbance observer, and the proposed composite speed controller. The effectiveness and superiority of the proposed composite speed controller are verified through simulation results.

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Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control

Cited by 10 publications

References 15 publications

Maximum Hands-Off Attitude Control

Maximum Hands-Off Attitude Control

Design of Sparse Control With Minimax Concave Penalty

Disturbance-Observer-Based Sliding-Mode Speed Control for Synchronous Reluctance Motor Drives via Generalized Super-Twisting Algorithm

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