Twistor-based pose control for asteroid landing with path constraints

Zhang, Bo; Cai, Yuanli

doi:10.1007/s11071-020-05610-w

Cited by 16 publications

(6 citation statements)

References 33 publications

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“…Then the motion of F D can be calculated based on (10) and (16). The mass and inertial matrix of the chaser are given as…”

Section: Simulation Resultsmentioning

confidence: 99%

“…Simultaneous relative attitude and position control between two spacecraft is a critical technology for many space missions, such as on-orbit servicing, formation flying, and asteroid exploration [1][2][3]. This six-degree-of-freedom (6-DOF) control problem is challenging since it is composed of two different motions, rotation and translation, between which there exist tangled kinematic and dynamic couplings [4,5].…”

Section: Introductionmentioning

confidence: 99%

“…Among various representations of the rigid body attitude and position (pose), such as quaternion/modified Rodrigues parameters plus position vectors [6][7][8][9], twistors [10,11], and homogeneous transformation matrices [12,13], dual quaternions with only eight parameters have emerged to be a suitable one since it can describe the pose in a unified and globally non-singular way, and capture the couplings in an inherent and implicit way [14,15]. Besides, according to the principle of transference, most properties of quaternions can be directly carried over to dual quaternions.…”

Section: Introductionmentioning

confidence: 99%

“…Although greatly benefiting from such similarities, as to global asymptotic stability, dual quaternion-based pose controllers suffer from the same topological obstruction as the quaternion-based attitude controllers do [26][27][28]. Unit dual quaternions form a double cover of the rigid body configuration space SE(3), namely there are two antipodal unit dual quaternions representing the same pose in SE (3). When this double cover is neglected, the resultant pose controller can cause the unwinding phenomenon, which means the rigid body may start close to the desired pose in SE( 3) and yet move farther to the antipodal unit dual quaternion corresponding to the same pose.…”

Section: Introductionmentioning

confidence: 99%

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Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

Peng

Gong

2022

IET Control Theory & Appl

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Due to the high reliability and simple adjustment, proportional‐integral‐derivative (PID) control is widely used in practical systems. However, intrinsic non‐linearity of the pose dynamics hinders the design of a PID pose controller. Besides, topological constraints on the rigid body configuration space SE(3) prevent a continuous or a memoryless discontinuous state feedback control from achieving robust global stability. For these two issues, this paper develops a dual quaternion‐based hybrid PID pose tracking control strategy, where the newly introduced integral term can compensate for constant disturbances, and the hysteretic switching‐based hybrid feedback can avoid both unwinding phenomenon and noise sensitivity caused by the topological constraints. In addition, by adjusting the hysteresis width, the proposed hybrid PID controller can also become a continuous or a discontinuous PID controller. The global asymptotic stability in the presence of constant disturbance forces and torques, and robustness to measurement noises are proven by the hybrid system stability theory. Numerical simulations for an earth‐orbiting spacecraft pose tracking mission are conducted to illustrate and compare the performances of the proposed hybrid, continuous and discontinuous PID pose tracking control laws.

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“…Then the motion of F D can be calculated based on (10) and (16). The mass and inertial matrix of the chaser are given as…”

Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

Peng

Gong

2022

IET Control Theory & Appl

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“…[13] presented a coupled relative pose dynamic model of spacecraft based on twistors and then designed an asymptotically stable PD-like controller. Zhang and Cai [16] used twistors to describe the pose motion of a spacecraft relative to an asteroid, and a collision-free pose control scheme for landing was proposed with the help of the artificial potential field (APF) technique. Ref.…”

Section: Introductionmentioning

confidence: 99%

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Guo,

Chen,

Zhang

et al. 2023

Electronics

Self Cite

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For integrated pose control of six-degree-of-freedom (6-DOF) leader–following spacecraft formations, the coupled relative pose between two spacecraft is described by a unified model in the framework of twistors, based on which a finite-time control law is devised for the 6-DOF dynamic system. Firstly, some necessary coordinate frames are defined, and then, relative 6-DOF dynamics of the follower spacecraft with respect to the desired frame are modeled by using twistors. Secondly, an integrated pose controller is designed for the 6-DOF formation that takes full advantage of homogeneous theory to guarantee finite-time stability. Finally, numerical simulations are carried out to validate the effectiveness of the proposed controller. Developing integrated 6-DOF formation control law based on twistors is more straightforward than conventional methods, and the finite-time algorithm achieves stronger robustness than asymptotic ones.

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Distributed 6-DOF Adaptive Control of Multi-spacecraft Formation Using Scaled Twistors

Zhang

Bai

2022

Lecture Notes in Electrical Engineering

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Twistor-based pose control for asteroid landing with path constraints

Cited by 16 publications

References 33 publications

Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

Globally stable proportional‐integral‐derivative control for spacecraft pose tracking via dual quaternions

Homogeneous Finite-Time Pose Tracking of Leader–Following Spacecraft Formation Using a Twistor-Based Model

Distributed 6-DOF Adaptive Control of Multi-spacecraft Formation Using Scaled Twistors

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