Aalborg Universitet Quaternion Feedback Control for Rigid - body Spacecraft
نویسندگان
چکیده
This paper addresses three-axis attitude control for a Danish spacecraft, R mer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental disturbances correspond to those expected for the R mer mission. The pros and cons of the algorithm are discussed. The results of the study show that the controller is a successful candidate for on-board implementation.
منابع مشابه
Quaternion-based Finite-time Sliding Mode Controller Design for Attitude Tracking of a Rigid Spacecraft during High-thrust Orbital Maneuver in the Presence of Disturbance Torques
In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...
متن کاملDecentralized attitude alignment control of spacecraft within a formation without angular velocity measurements ⋆
Abstract: In this paper, we consider the coordinated attitude control problem without velocity measurements. Based on the recently introduced unit quaternion output feedback for the attitude tracking of a rigid body, we present a class of decentralized coordinated control laws to solve the alignment problem for a group of spacecraft within a formation without velocity measurements. The approach...
متن کاملQuaternion-Based Kinematic Control of Redundant Spacecraft/Manipulator Systems
This paper addresses kinematic control of a redundant space manipulator mounted on a freeoating spacecraft. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-e ector pose is considered. Also, the problem of both spacecraft attitude and end-e ector orientation representation is tackled. A nonminimal singularity-free representation o...
متن کاملNonlinear Attitude Control for a Rigid Spacecraft by Feedback Linearization
Attitude control law design for spacecraft large angle maneuvers is investigated in this paper. The feedback linearization technique is applied to the design of a nonlinear tracking control law. The output function to be tracked is the quaternion attitude parameter. The designed control law turns out to be a combination of attitude and attitude rate tracking command. The attitude-only output fu...
متن کاملTime-varying Feedback Stabilization of the Attitude of a Rigid Spacecraft with two controls
Rigid body models with two controls cannot be locally asymptotically stabilized by continuous state feedbacks. Existence of a locally stabilizing smooth time-varying feedback has however been proved. Here, such a feedback is ezplicitely derived. 1 Introduction The attitude control of a rigid spacecraft operating in degraded mode, i.e with only one or two controls, has already been much studied ...
متن کامل