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Research Papers

Nondiagonal MIMO QFT Controller Design for Darwin-Type Spacecraft With Large Flimsy Appendages

[+] Author and Article Information
Mario Garcia-Sanz

Automatic Control and Computer Science Department, Public University of Navarra, Campus Arrosadia, 31006 Pamplona, Spainmgsanz@unavarra.es

Irene Eguinoa, Marta Barreras

Automatic Control and Computer Science Department, Public University of Navarra, Campus Arrosadia, 31006 Pamplona, Spain

Samir Bennani

Guidance, Navigation and Control Section, ESA/ESTEC, Keplerlaan 1, 2201 AZ Noordwijk, The Netherlands

J. Dyn. Sys., Meas., Control 130(1), 011006 (Dec 18, 2007) (15 pages) doi:10.1115/1.2807067 History: Received May 16, 2006; Revised May 25, 2007; Published December 18, 2007

This paper deals with the design of robust control strategies to govern the position and attitude of a Darwin-type spacecraft with large flexible appendages. The satellite is one of the flyers of a multiple spacecraft constellation for a future ESA mission. It presents a 6×6 high order multiple-input–multiple-output (MIMO) model with large uncertainty and loop interactions introduced by the flexible modes of the low-stiffness appendages. The scientific objectives of the satellite require very demanding control specifications for position and attitude accuracy, high disturbance rejection, loop-coupling attenuation, and low controller order. The paper demonstrates the feasibility of a sequential nondiagonal MIMO quantitative feedback theory (QFT) strategy controlling the Darwin spacecraft and compares the results with H-infinity and sequential diagonal MIMO QFT designs.

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Copyright © 2008 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Darwin spacecraft (artist’s view)

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Figure 2

Darwin type-6 DOF satellite model

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Figure 3

Darwin-type flyer dynamics

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Figure 4

General 6×6 satellite control loop

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Figure 5

Structure of a 2 DOF MIMO system

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Figure 6

Loop-shaping (a) L33(s)=p33(s)g33(s). (b) L66(s)=p66(s)g66(s).

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Figure 7

Loop-shaping (a) L11(s)=[p11*e(s)]1−1g11(s). (b) L55(s)=[p55*e(s)]2−1g55(s).

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Figure 8

Magnitude plot of [−p51*(s)] with uncertainty and g51(s), bold solid line

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Figure 9

Loop-shaping (a) L22(s)=[p22*e(s)]1−1g22(s). (b) L44(s)=[p44*e(s)]2−1g44(s).

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Figure 10

Element (5,1) of the coupling matrix C2: nondiagonal MIMO QFT in solid line, diagonal MIMO QFT in dotted line, H-infinity in dashed line

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Figure 11

Bode diagram compensators: nondiagonal and diagonal MIMO QFT in solid line, H-infinity in dashed line. (a) g33(s); (b) g66(s).

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Figure 12

Bode diagram compensators: nondiagonal MIMO QFT in solid line (also diagonal MIMO QFT for g11(s) and g55(s)), H-infinity in dashed line. (a) g11(s), (b) g15(s), (c) g51(s), (d) g55(s).

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Figure 13

Bode diagram compensators: nondiagonal MIMO QFT in solid line (also diagonal MIMO QFT for g22(s) and g44(s)), H-infinity in dashed line. (a) g22(s), (b) g24(s), (c) g42(s), (d) g44(s).

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