Spacecraft Trajectory Tracking with Identification of Mass Properties Using Dual Quaternions

Abstract

The problem of estimating the mass properties of a spacecraft while tracking a 6-DOF reference is addressed using dual quaternions. Dual quaternions provide a position and attitude (pose) representation, which has proven to be advantageous over other, more conventional, parameterizations. An adaptive controller for 6-DOF tracking is proposed using concepts from the concurrent learning framework. The latter is a recently proposed methodology to incorporate current and recorded system data from measurements into the update of an adaptive controller's parameters. Asymptotic convergence of the parameters is ensured through an easily verifiable rank condition of the matrix formed from a finite set of collected data, contrary to the rather stringent, but more common requirement of persistency of excitation. Simulation results for the tracking of a non-persistently exciting, 6-DOF reference are provided and compared to the baseline adaptive controller.

Adaptive finite‐time tracking control of 6DOF spacecraft motion with inertia parameter identification

“…Substituting (39) into the system (15) and (16) and combining with (41), the relative coupled dynamics can be rewritten in the following form:…”

“…The saturation compensator introduced in [15] is modified by adding a term to guarantee the finite-time convergence of the closed-loop system. It is worth mentioning that taking the natural couplings between the translation and rotation of spacecraft into consideration, this paper utilises the 6DOF coupled spacecraft model [16][17][18], guaranteeing higher control efficiency and accuracy than those early studies [19,20], where the position controller and attitude controller are designed separately.…”

Adaptive Backstepping Control for a Fully-Actuated Rigid-Body in a Dual-Quaternion Framework

“…In addition the controller also compensates for constant or slowly time-varying disturbances. In [16] an adaptive controller that estimates the mass and inertia parameters using concurrent learning is derived. The proposed adaptive controller was based on concurrent learning methods which avoid the need for a persistently exciting reference trajectory as needed in [15].…”

“…In this paper a dual-quaternion adaptive backstepping tracking controller is introduced for a fully-actuated rigidbody which can easily be adapted to specific problems such as satellite pose tracking control. In contrast with earlier works [15], [14] and [16], the dual-inertia matrix is kept anti-diagonal such that it is consistent with the modelling framework of [4]. Furthermore it avoids the use of the swap operator, leading to a simpler controller design.…”

“…The dual control force. whileK is defined as in(16). The initial values for the estimated mass and inertia parameters are set toθ(t 0 ) = 0 0 0 0 0 0 0 0 while the initial value for the estimated disturbance dual-force isf b d (t 0 ) = 0 + 0.…”