Stability of Proportional-Plus-Derivative-Plus-Integral Control of Flexible Spacecraft

Hughes, P. C.; Abdel-Rahman, Tarek M.

doi:10.2514/3.55915

Cited by 18 publications

(5 citation statements)

References 7 publications

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“…PID controller for the slow subsystem of a flexible robot must be treated differently from PID law in rigid robot systems (Hughes and Abdel-Rahman, 1979 in the flexible robot. Thus, to present concrete criteria in selecting gains, we first clarify the purposes of the slow sub-controller: To maintain good trajectory tracking with no steady error, and to reduce coupling effects resulting from the flexibility.…”

Section: Slow Sub-controller: Dob-based Pid Controlmentioning

confidence: 99%

Linear PID Composite Controller and its Tuning for Flexible Link Robots

Cheong

Lee

2008

Journal of Vibration and Control

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This article presents both a proposal for a linear PID composite controller, composed of slow and fast sub-controllers, for flexible link robot systems modeled using the singular perturbation approach, and an efficient tuning method for the proposed controller structure. For the slow sub-controller, a PD controller with disturbance observer is used, which eventually takes on PID form. For the fast sub-controller, modal feedback PID control is utilized. The integral action in the controller removes steady state error in the joint caused by step disturbance and imperfect gravity compensation, although it also complicates the analysis. Effects of tuning the parameters of the controller to the closed loop response are investigated, and guidelines on the performance tuning for many flexible systems thus delivered. Through simulation and experiments, the adequacy and performance of the proposed method are verified.

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Section: Slow Sub-controller: Dob-based Pid Controlmentioning

confidence: 99%

Linear PID Composite Controller and its Tuning for Flexible Link Robots

Cheong

Lee

2008

Journal of Vibration and Control

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“…Hughes and Abdel-Rahman [23] study the linear attitude control of flexible spacecraft using a classical PID feedback control law. They assume that the spacecraft is composed of a rigid central bus to which are attached one or more flexible appendage (modeled as a series of second order systems) and that there is at least one axis about which the spacecraft's attitude motion is uncoupled from the motion about the other two axes.…”

Section: Classical Controlmentioning

confidence: 99%

“…23 Validation case 15 -Spacecraft body angular rates (  ) 24 Validation case 15 -Deflection ( w ) at tip .5; 10 5 seconds mark and lasts for 2 seconds. In this case, a single appendage is included which is clamped mid-way along the right side of the rigid bus and has the same properties as described inTable 3.13with 2 modes in each x and y directions of the appendage (i.e.…”

mentioning

confidence: 99%

Attitude recovery of flexible spacecraft using nonlinear control

Tafazoli

Khorasani

2004

2004 IEEE Region 10 Conference TENCON 2004.

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The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The attitude control system is one of the critical technology elements, a significant cost driver on most spacecraft programs and hence a key area of study and research. The thesis will focus on the different aspects of the problem including the modeling of flexible dynamics and the design and implementation of a suitable subclass of an attitude viii TABLE OF CONTENTS LIST OF ACRONYMS xi LIST OF FIGURES xiii LIST OF TABLES xvii LIST OF APPENDICES xviii 1 INTRODUCTION AND BACKGROUND 1.1 Literature Review 1.1.1 Rigid Spacecraft Dynamics and Control 4 1.

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“…In the first relevant study, stability of PID control of a flexible satellite with a simple model of planar manoeuvre of the spacecraft, sensor and the actuator are studied (Hughes, 1979) and the principal result of the paper shows if the controller is unconditionally stable (with respect to gain) for a rigid satellite, structural flexibility cannot destabilize it. Other relevant studies such as Ben-Asher et al (1992), Ford and Hall (1997) and Singh et al (1989) can also be categorized as primary studies on this subject.…”

Section: Introductionmentioning

confidence: 99%

Three-axis attitude stabilization of a flexible satellite using non-linear PD controller

Baghi

Kabganian

Nadafi

et al. 2016

Transactions of the Institute of Measurement and Control

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In this paper, after complete modelling of a flexible satellite equipped with a control moment gyroscope (CMG) actuator, it is shown that a PD-like controller can globally asymptotically stabilize this satellite by using Lyapunov’s direct method. Despite the simplicity, simulations show that the controller can stabilize the flexible satellite in a three-axis manoeuvre even in the presence of external disturbances. Then, using a non-linear variable gains PD controller, which only uses angular velocity of the rigid body and the attitude parameters as the inputs, the performance of the control system is improved in some important aspects such as reducing maximum control torque, reducing maximum peak of deflection of the appendages and increasing robustness of the controller against the orbital disturbances. In addition, locally asymptotically stability of the non-linear variable gain PD controller is guaranteed using a novel Lyapunov candidate function. Considering the difficulty in measuring the appendages’ deflection and the primarily existence of parameter uncertainties, and as this controller is independent of changes in these parameters, such a control system is very useful and applicable. In order to validate the system’s mathematical model and the control system performance, an exact model of the satellite is constructed in the ADAMS/View software that is linked to the MATLAB software. The efficacy of the proposed approach is demonstrated by several numerical examples.

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Stability of Proportional-Plus-Derivative-Plus-Integral Control of Flexible Spacecraft

Cited by 18 publications

References 7 publications

Linear PID Composite Controller and its Tuning for Flexible Link Robots

Linear PID Composite Controller and its Tuning for Flexible Link Robots

Attitude recovery of flexible spacecraft using nonlinear control

Three-axis attitude stabilization of a flexible satellite using non-linear PD controller

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