Autonomous Attitude Control Using Potential Function Method Under Control Input Saturation
- Paper number
IAC-08.C1.7.2
- Author
Mr. Imran Ali, University of Glasgow, United Kingdom
- Coauthor
Dr. Gianmarco Radice, University of Glasgow, United Kingdom
- Year
2008
- Abstract
The potential function method has been used extensively in nonlinear control for the development of feedback laws which result in global asymptotic stability for a certain prescribed operating point of the closed-loop system. It is a variation of the Lyapunov direct method in the sense that here the Lyapunov function, also called potential function, is constructed in such a way that the undesired points of the system state space are avoided. The method has been considered for the space applications where the systems involved are usually composed of the cascaded subsystems of kinematics and dynamics and the kinematic states are mapped onto an appropriate potential function which is augmented for the overall system by the use of the method of integrator backstepping [1]. However, the usual backstepping controls may result in an excessive control effort that may be beyond the saturation bound of the actuators [2]. While within the framework of conventional backstepping control design, Ref. 3 proposed, for the single-input systems having a certain cascaded structure, a new family of augmented Lyapunov functions which allows for the development of a family of globally asymptotically stabilizing bounded feedbacks. The present paper extends this idea of backstepping with bounded feedbacks for the multi-input system of spacecraft attitude control and blends it with the potential function method for autonomous attitude manoeuvres in the presence of constraints on the admissible attitudes. The efficacy of the proposed methodology is demonstrated also by performing numerical simulations and comparing the method with results previously published in the literature.
References
- Casasco, M., and Radice, G., “Optimal Results for Autonomous Attitude Control Using the Potential Function Method,” Advances in the Astronautical Sciences, Vol. 119, 2005, pp. 1369–1389.
- Kim, K.-S., and Kim, Y., “Robust Backstepping Control for Slew Maneuver Using Nonlinear Tracking Function,” IEEE Transactions on Control Systems Technology, Vol. 11, No. 6, 2003, pp. 822-829.
- Mazenc, F., and Iggidr, A., “Backstepping with Bounded Feedbacks,” Systems and Control Letters, Vol. 51, 2004, pp. 235-245.
- Abstract document
- Manuscript document
IAC-08.C1.7.2.pdf (🔒 authorized access only).
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