Robust Nonlinear Attitude Control of Flexible Spacecraft

This paper presents an approach to large-angle rotationalmaneuvers of a spacecraft-beam-tip body configuration based onnonlinear invertibility and linear feedback stabilization. A controllaw Ud is derived for the decoupled control of attitude angles, lateralelastic deflections, slopes due to bending and angular deflection dueto torsion at the tip of the beam using torquers and force actuators.For the stabilization of the elastic modes, a linear feedback controllaw us is obtained based on a linearized model augmented with aservocompensator. Simulation results are presented to show thatlarge slewing and elastic mode stabilization can be accomplished.

[1]  James D. Turner,et al.  Optimal distributed control of a flexible spacecraft during a large-angle maneuver , 1984 .

[2]  D. Claude.  Decoupling of nonlinear systems , 1982 .

[3]  James D. Turner,et al.  Disturbance-accommodating tracking maneuvers of flexible spacecraft , 1985 .

[4]  Lawrence W. Taylor,et al.  A mathematical problem and a Spacecraft Control Laboratory Experiment (SCOLE) used to evaluate control laws for flexible spacecraft. NASA/IEEE design challenge , 1984 .

[5]  A. Hale,et al.  OPTIMAL DESIGN FOR SINGLE AXIS ROTATIONAL MANEUVERS OF A FLEXIBLE STRUCTURE , 1984 .

[6]  James D. Turner,et al.  OPTIMAL DISTRIBUTED CONTROL OF' A FLEXIBLE SPACECRAFT DURING A LARGE-ANGLE ROTATIONAL MANEUVER , 1981 .

[7]  Stephen Gates,et al.  Planar dynamics of a uniform beam with rigid bodies affixed to the ends , 1983 .

[8]  I. Ha,et al.  A complete characterization of decoupling control laws for a general class of nonlinear systems , 1986 .

[9]  J. A. Breakwell,et al.  Optimal feedback slewing of flexible spacecraft , 1981 .

[10]  Sahjendra Singh,et al.  Asymptotic Reproducibility in Nonlinear Systems and Attitude Control of Gyrostat , 1984, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Henk Nijmeijer,et al.  Invertibility of affine nonlinear control systems: a geometric approach : Preprint , 1982 .

[12]  R. Hirschorn.  Invertibility of multivariable nonlinear control systems , 1979 .

[13]  Sahjendra Singh,et al.  Robust torque control of an elastic robotic arm based on invertibility and feedback stabilization , 1985, 1985 24th IEEE Conference on Decision and Control.

[14]  A. Isidori,et al.  Nonlinear decoupling via feedback: A differential geometric approach , 1981 .

[15]  Sahjendra N. Singh.  A modified algorithm for invertibility in nonlinear systems , 1981 .

[16]  J. Junkins,et al.  Optimal Large-Angle Single-Axis Rotational Maneuvers of Flexible Spacecraft , 1980 .

[17]  Michel Fliess.  On the inversion of nonlinear multivariable systems , 1984 .