Research Papers

Constrained Robust Control for Spacecraft Attitude Stabilization Under Actuator Delays and Faults

[+] Author and Article Information
Alireza Safa

Department of Control Engineering,
Faculty of Electrical and Computer Engineering,
University of Tabriz,
Tabriz 51666-14766, Iran
e-mail: a.safa@tabrizu.ac.ir

Mahdi Baradarannia, Hamed Kharrati, Sohrab Khanmohammadi

Department of Control Engineering,
Faculty of Electrical and Computer Engineering,
University of Tabriz,
Tabriz 51666-14766, Iran

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 26, 2015; final manuscript received November 10, 2016; published online March 17, 2017. Assoc. Editor: Ming Xin.

J. Dyn. Sys., Meas., Control 139(5), 051011 (Mar 17, 2017) (12 pages) Paper No: DS-15-1591; doi: 10.1115/1.4035238 History: Received November 26, 2015; Revised November 10, 2016

This paper deals with the attitude stabilizing control problem for a rigid spacecraft in the presence of model uncertainties, external disturbances, and actuator faults when delay effects and control input constraints are taken into consideration. First, a backstepping method is introduced in the control design for compensating unknown delays in inputs. Then, a disturbance observer is investigated for estimating model uncertainties, external disturbances, and actuator fault effects. The backstepping controller is augmented with the reconstructed information provided by the disturbance observer to make the closed-loop system insensitive to disturbances and faults. Next, the proposed observer–controller structure is redesigned to deal with control constraints. Rigorous proofs show that the developed control under simple sufficient conditions can render the system globally input-to-state stable (ISS). Numerical simulations are presented to illustrate the effectiveness of the proposed controllers.

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Grahic Jump Location
Fig. 1

Schematic overview of the constrained MESO-based backstepping control architecture

Grahic Jump Location
Fig. 2

Curves of closed-loop states under three developed schemes in the presence of uncertainties, external disturbance, and actuator faults: (a) the MRP vector and (b) the angular velocity

Grahic Jump Location
Fig. 3

Curves of MESO states in the presence of uncertainties, external disturbance, and actuator faults: (a) and (b) without the command filters and (c) and (d) with the command filters (note that the ith element of a vector is labeled by (i) in the legend)

Grahic Jump Location
Fig. 4

Curves of commanded control inputs of three developed schemes in the presence of uncertainties, external disturbance, and actuator faults

Grahic Jump Location
Fig. 5

The estimation performance index (ITAE) versus time delay in the worst-case condition: for the regular ESO (solid line) and for the MESO (dashed line). Since the range of ITAE for the regular ESO is large, the logarithmic scale for the vertical axis is used.




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