Research Papers

Robust-Optimal Fuzzy Model-Based Control of Flexible Spacecraft With Actuator Constraint

[+] Author and Article Information
Chokri Sendi

Department of Mechanical Engineering,
Santa Clara University,
Santa Clara, CA 95053
e-mail: csendi@scu.edu

Mohammad A. Ayoubi

Associate Professor
Department of Mechanical Engineering,
Santa Clara University,
Santa Clara, CA 95053
e-mail: maayoubi@scu.edu

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received August 1, 2015; final manuscript received March 28, 2016; published online May 30, 2016. Assoc. Editor: Ming Xin.

J. Dyn. Sys., Meas., Control 138(9), 091004 (May 30, 2016) (9 pages) Paper No: DS-15-1361; doi: 10.1115/1.4033318 History: Received August 01, 2015; Revised March 28, 2016

This paper presents a robust-optimal fuzzy controller for position and attitude stabilization and vibration suppression of a flexible spacecraft during antenna retargeting maneuver. The fuzzy controller is based on Takagi–Sugeno (T–S) fuzzy model and uses the parallel distributed compensator (PDC) technique to quadratically stabilize the closed-loop system. The proposed controller is robust to parameter and unstructured uncertainties of the model. We improve the performance and the efficiency of the controller by minimizing the upper bound of the actuator's amplitude and maximizing the uncertainties terms included in the T–S fuzzy model. In addition to actuator amplitude constraint, a fuzzy model-based observer is considered for estimating unmeasurable states. Using Lyapunov stability theory and linear matrix inequalities (LMIs), we formulate the problem of designing an optimal-robust fuzzy controller/observer with actuator amplitude constraint as a convex optimization problem. Numerical simulation is provided to demonstrate and compare the stability, performance, and robustness of the proposed fuzzy controller with a baseline nonlinear controller.

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Fig. 1

Model of the flexible spacecraft

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Fig. 2

Schematic diagram of the system

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Fig. 3

Fuzzy membership function

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Fig. 4

Angular position, velocity, and acceleration of the antenna with respect to the platform

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Fig. 5

Position of the platform center-of-gravity Rz

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Fig. 6

Time history of Euler angle θx

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Fig. 7

Open-loop deflection of the antenna-tip, δy, for the T-S and nonlinear models

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Fig. 8

Closed-loop and open-loop response of the antenna tip deflection, δy

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Fig. 9

Time history of Euler angle θx

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Fig. 10

Position of the platform center-of-gravity

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Fig. 11

Actuator moment on the platform

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Fig. 12

Actuator force of the antenna tip in the x-direction

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Fig. 13

Displacement of the antenna tip in the y-direction

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Fig. 14

Time history of Euler angle θx

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Fig. 15

Position of the platform center-of-gravity



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