Engineering Notes Backstepping Control Design with Actuator Torque Bound for Spacecraft Attitude Maneuver
Engineering Notes Backstepping Control Design with Actuator Torque Bound for Spacecraft Attitude Maneuver
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DOI：
10.2514/1.45541
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
I. Ali;G. Radice;Jongrae Kim
中科院分区：
文献类型：
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作者：
I. Ali;G. Radice;Jongrae Kim
BackStepping是一种流行的非线性控制设计技术[1,2]。可以探索解决鲁棒性问题并解决自适应问题。对照lyapunov的功能是递归构建的，以确保稳定性。反馈控制[5]。在控制扭矩上有一个上限，它们可以执行到系统上，而简单或常规的后式控制方法可能会在文献中使用其他控制方法（例如非线性比例 - 在这项工作中，我们设计了一个非线性后退态度控制器使用基于切线的跟踪函数[4]和增强lyapunov函数[12]。对于给定的沉降时间规范，将控制器的上限最小化。注释如下：首先，刚性航天器的运动学和动力学总结。最终提出了态度稳定和跟踪的数值模拟。
BACKSTEPPING is a popular nonlinear control design technique [1,2]. It hinges on using a part of the system states as virtual controls to control the other states. Generating a family of globally asymptotically stabilizing control laws is the main advantage of this method that can be exploited for addressing robustness issues and solving adaptive problems. The term backstepping refers to the recursive nature of the control design procedure in which a control law and a control Lyapunov function are recursively constructed to guarantee stability. Backstepping has been considered for the spacecraft slew maneuvers [3,4]. The cascaded structure of spacecraft kinematics and dynamics makes the integrator backstepping a preferred approach for the spacecraft attitude maneuver problem, resulting in smooth feedback controls [5]. However, the typical control actuators used for this problem (such as reaction wheels, control moment gyros, or thrusters) have an upper bound on the control torque they can exert onto the system and the simple or conventional backstepping control method may result in excessive control input beyond that saturation bound. The issue has been addressed in the literature using other control methodologies such as nonlinear proportional–integral–derivative control [6], Lyapunovoptimal control [7] and variable structure control [8–11]. In this work, we design a nonlinear backstepping attitude controller using the inverse tangent-based tracking function [4] and a family of augmented Lyapunov functions [12]. Using this control law, we derive an analytical upper bound of the control torque norm. The bound is effectively used to tune the control parameters so that, for the given settling time specification, the upper bound of the control input is minimized. The performance of the proposed controller has shown improvements in minimizing the peak control torque and the settling time. The rest of the Note is organized as follows: First, the kinematics and dynamics of rigid spacecraft are summarized. Second, the details of the design procedure for the proposed controller and the analytical bounds for the control torque components are given. Third, the efficacy of the proposed scheme is demonstrated by the numerical simulations for the cases of attitude stabilization and tracking both. Finally, the conclusions are presented.