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Research Papers

Output Feedback Attitude Tracking for Spacecraft Under Control Saturation and Disturbance

[+] Author and Article Information
Qinglei Hu

School of Automation Science and
Electrical Engineering,
Beihang University,
Beijing 100191, China
e-mail: huql_buaa@buaa.edu.cn

Boyan Jiang

Department of Control Science and Technology,
Harbin Institute of Technology,
Harbin 150001, China
e-mail: jiangboyan888@163.com

Youmin Zhang

Department of Mechanical and
Industrial Engineering,
Concordia University,
1455 Maisonneuve Boulevard West,
Montreal, QC H3G 1M8, Canada
e-mails: youmin.zhang@concordia.ca;
ymzhang@encs.concordia.ca

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 27, 2013; final manuscript received October 19, 2015; published online November 12, 2015. Assoc. Editor: May-Win L. Thein.

J. Dyn. Sys., Meas., Control 138(1), 011006 (Nov 12, 2015) (13 pages) Paper No: DS-13-1327; doi: 10.1115/1.4031855 History: Received August 27, 2013; Revised October 19, 2015

This paper proposes a class of velocity-free attitude stable controller using a novel finite-time observer for spacecraft attitude tracking, which explicitly takes into account control input saturation to assure fast and accurate response and to achieve effective compensation to the effect of external disturbance as well. First, a novel semiglobal finite-time convergent observer is proposed to estimate the angular velocity in a finite-time under external disturbance. Then, a simple global output feedback controller is proposed by adoption of the designed finite-time observer. Rigorous proofs show that the proposed observer can achieve the finite-time stability and the controller rigorously enforces actuator magnitude constraints. Numerical simulations illustrate the spacecraft performance obtained using the proposed controller.

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References

Figures

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Fig. 1

Time responses of the angular velocity by the proposed observer without disturbance

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Fig. 2

Time response of the estimation error q̃ without disturbance

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Fig. 3

Time response of the estimation error ω̃ without disturbance

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Fig. 4

Bounded control performance index without disturbance

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Fig. 5

Time responses of the attitude quaternions without disturbance

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Fig. 6

Time responses of the attitude tracking error qe without disturbance: (a) proposed controller and (b) controller in Ref.[43]

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Fig. 7

Time responses of the angular-velocity tracking error ωe without disturbance: (a) proposed controller and (b) controller in Ref. [43]

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Fig. 8

Time responses of the control torque τ without disturbance: (a) proposed controller and (b) controller in Ref. [43]

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Fig. 9

Energy consumption for the two controllers without disturbance

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Fig. 10

Time responses of the angular velocity by the proposed observer under disturbance

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Fig. 11

Time response of the estimation error q̃ under disturbance

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Fig. 12

Time response of the estimation error ω̃ under disturbance

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Fig. 13

Bounded control performance index under disturbance

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Fig. 14

Time responses of the attitude quaternions under disturbance

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Fig. 15

Time responses of the attitude tracking error qe under disturbance: (a) proposed controller and (b) controller in Ref.[43]

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Fig. 16

Time responses of the angular-velocity tracking error ωe under disturbance: (a) proposed controller and (b) controller in Ref. [43]

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Fig. 17

Time responses of the control torque τ under disturbance: (a) proposed controller and (b) controller in Ref. [43]

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Fig. 18

Energy consumption for the two controllers with disturbance

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