Large Angle Reorientation Manoeuvre of Spacecraft Using Robust Backstepping Control
- Paper number
IAC-08.C1.8.1
- Author
Mr. Imran Ali, University of Glasgow, United Kingdom
- Coauthor
Dr. Jongrae Kim, University of Glasgow, United Kingdom
- Coauthor
Dr. Gianmarco Radice, University of Glasgow, United Kingdom
- Year
2008
- Abstract
Backstepping is a systematic, Lyapunov-based method for nonlinear control design which can be applied to nonlinear systems, especially in cascaded form. Large angle reorientation maneuver problem of a spacecraft, a cascaded system of dynamics and kinematics, is a good candidate for this technique. Ref. 1 has addressed the issue of robustness in the context of this problem by considering a non-conventional backstepping approach in which a variety of control gains are introduced in the control law and these are calculated in a considerate manner. The robustness of the proposed methodology has been shown by considering the variations in the moments of inertia. In contrast with the said non-conventional approach of Ref. 1, a new family of augmented Lyapunov functions has been proposed by Ref. 2, while remaining within the framework of conventional backstepping control design, for the general single-input systems having a certain cascaded structure. Not only the derivatives of these functions along the trajectories of the system can be rendered nonpositive by the bounded state feedbacks but these also offer some flexibility to address some of the system robustness issues. The present paper exploits this novel shape of the augmented Lyapunov functions to ensure the robustness for the conventional backstepping based feedbacks for the multi-input system of spacecraft attitude control. Moreover, robustness is demonstrated both against the variations of moments of inertia and the dominant flexible modes of the spacecraft. The efficacy of the proposed methodology is demonstrated also by performing numerical simulations. References
- 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.C1.8.1.pdf (🔒 authorized access only).
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