Optimal Output Feedback Controllers for Spacecraft Attitude Tracking

This paper investigates the problem of output feedback attitude tracking control of a rigid spacecraft in the presence of external disturbances. Two optimal control laws with a disturbance estimator are developed to deal with this problem. An adapted extended state observer is used to estimate the angular velocity tracking errors and to allow for compensation for the total disturbances. The proposed control can be expressed as the sum of a nonlinear optimal controller and an estimated disturbance. For the optimal controller, the state-dependent Riccati equation and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The developed controllers can minimize a performance index and ensure the stability of the closed-loop system and external disturbance attenuation. On the other hand, using the adapted extended state observer, the asymptotic convergence of estimation error dynamics is proven. An example of multiaxial attitude manoeuvres is given and simulation results are included to demonstrate and verify the usefulness of the proposed controllers.

[1]  R. Sharma,et al.  Optimal nonlinear tracking of spacecraft attitude maneuvers , 2004, IEEE Transactions on Control Systems Technology.

[2]  J.S. Yuan,et al.  Closed-loop manipulator control using quaternion feedback , 1988, IEEE J. Robotics Autom..

[3]  Darren M. Dawson,et al.  A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems , 2004, Autom..

[4]  S. Banks,et al.  Optimal control and stabilization for nonlinear systems , 1992 .

[5]  J. Wen,et al.  Robust attitude stabilization of spacecraft using nonlinear quaternion feedback , 1995, IEEE Trans. Autom. Control..

[6]  Awad El-Gohary.  Optimal control of a programmed motion of a rigid spacecraft using redundant kinematics parameterizations , 2005 .

[7]  Awad I. El-Gohary.  Optimal control of an angular motion of a rigid body during infinite and finite time intervals , 2003, Appl. Math. Comput..

[8]  Srinivasulu Malagari,et al.  Globally exponential controller/observer for tracking in robots without velocity measurement , 2012 .

[9]  Romeo Ortega,et al.  Passivity-based Control of Euler-Lagrange Systems , 1998 .

[10]  Xu Yang,et al.  Active disturbance rejection control for high pointing accuracy and rotation speed , 2009, Autom..

[11]  Keck Voon Ling,et al.  Inverse optimal adaptive control for attitude tracking of spacecraft , 2005, IEEE Trans. Autom. Control..

[12]  Awad El-Gohary,et al.  Optimal control of a rigid body motion using Euler parameters without angular velocity measurements , 2010 .

[13]  Tatsuaki Hashimoto,et al.  Improved satellite attitude control using a disturbance compensator , 2004 .

[14]  R. Ortega,et al.  On global output feedback regulation of Euler-Lagrange systems with bounded inputs , 1997, IEEE Trans. Autom. Control..

[15]  Heidar Ali Talebi,et al.  Robust attitude and vibration control of a nonlinear flexible spacecraft , 2012 .

[16]  S. Gennaro,et al.  Active Vibration Suppression in Flexible Spacecraft Attitude Tracking , 1998 .

[17]  Jingqing Han,et al.  From PID to Active Disturbance Rejection Control , 2009, IEEE Trans. Ind. Electron..

[18]  Jyh-Ching Juang,et al.  An LMI-based nonlinear attitude control approach , 2003, IEEE Trans. Control. Syst. Technol..

[19]  Yonmook Park,et al.  Robust and optimal attitude stabilization of spacecraft with external disturbances , 2005 .

[20]  Sahjendra N. Singh,et al.  State-dependent Riccati equation-based robust dive plane control of AUV with control constraints , 2007 .

[21]  Romeo Ortega,et al.  Output-feedback global stabilization of a nonlinear benchmark system using a saturated passivity-based controller , 1999, IEEE Trans. Control. Syst. Technol..

[22]  P. Tsiotras.  Stabilization and optimality results for the attitude control problem , 1996 .

[23]  Chang-Joo Kim,et al.  Rotorcraft Trajectory Tracking Using the State-Dependent Riccati Equation Controller , 2008 .

[24]  James R. Wertz,et al.  Spacecraft attitude determination and control , 1978 .

[25]  Awad El-Gohary.  Optimal control for the attitude stabilization of a rigid body using non-redundant parameters , 2006 .

[26]  Miroslav Krstic,et al.  Inverse optimal stabilization of a rigid spacecraft , 1999, IEEE Trans. Autom. Control..

[27]  Wei Kang,et al.  Nonlinear H∞ control and its application to rigid spacecraft , 1995, IEEE Trans. Autom. Control..

[28]  H. Nijmeijer,et al.  Robust control of robots via linear estimated state feedback , 1994, IEEE Trans. Autom. Control..