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attitude control of Spherical Liquid-Filled Spacecraft Based on High-Order Fully Actuated System Approaches

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Journal of Systems Science & Complexity 2022年第2期35卷 471-480页

作者： XIAO Fuzheng CHEN Liqun School of Science Harbin Institute of Technology(Shenzhen)Shenzhen 518055China

The attitude of spherical liquid-filled spacecraft is controlled based on the high-order fully actuated system *** rigid-fluid coupling dynamic equation can be established in terms of the Euler angles of the spacecraft and the angular velocities of the liquid *** to the dynamic equation,three kinds of input selections are *** the case of one control input,the dynamic equation is transformed into the third-order or the second-order differential equations of the Euler angle by the high-order fully actuated system *** a control law is designed to track the *** effectiveness of the control law is demonstrated by numerical simulations.

关键词： attitude control high-order fully actuated system approaches spherical liquid-filled spacecraft

attitude control without angular velocity measurement for flexible satellites

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Chinese Journal of Aeronautics 2018年第6期31卷 1345-1351页

作者： Qinghua ZHU Guangfu MA Xiaoting WANG Aiguo WU Department of control Science and control Engineering Harbin Institute of Technology Harbin 150001 China Shanghai Aerospace control Technology Institute Shanghai 201109 China Harbin Institute of Technology Shenzhen Graduate School Shenzhen 518055 China Shanghai Key Laboratory of Aerospace Intelligent control Technology Shanghai 201109 China

In this paper, by using quaternion models, the problem of attitude control is investigated for a class of flexible satellites. Two control laws are presented for the considered flexible satellite models to guarantee convergence of the closed-loop systems without using angular velocity measurement. One is in the form of a partial state feedback for the case where the modal variable is available, and the other is in the form of an observer-based partial state feedback for the case where the modal variable cannot be measured. Finally, an example is employed to illustrate the effectiveness of the proposed control laws.

关键词： attitude control Flexible satellites Modal variables Quaternion models Passivity

attitude control of apricot during orientation transmission

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International Journal of Agricultural and Biological Engineering 2016年第5期9卷 9-16页

作者： Ding Xiangyan Wang Chunyao Huang Chunyang Luo Jianqing School of Mechanical Engineering Xinjiang UniversityUrumqi 830047China

The kinetic characteristics of apricots during orientation transmission were studied to provide a basis for improving the structure of the transmission *** studies have generally focused on the development of orientation devices,but few studies have been conducted to analyze the mechanisms of *** order to study the attitude control in the orientation mechanisms,an orthogonal combination test was performed and a rigid kinetic model for a monosymmetric apricot was developed based on Euler’s kinetic equations with the modified Rodrigue parameters(MRPs).Kinetic simulation and analysis based upon the attitude control law were conducted and an attitude control simulation platform was *** simulation results showed that the orientation transmission system for monosymmetric apricots was globally convergent and tended to *** experimental torques also affected the orientation success *** calculated average experimental torque value(0.164 N·m)was consistent with the maximum control torque value(0.16478 N·m)when the system was in a stable state in *** consistency between the simulation result and the calculated control torque validates the correctness of the designed control torques.

关键词： attitude control apricot orientation transmission torque control monosymmetric fruit

attitude control of Multiple Rigid Bodies with Uncertainties and Disturbances

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IEEE/CAA Journal of Automatica Sinica 2015年第1期2卷 2-10页

作者： Yuanqing Xia Ning Zhou Kunfeng Lu Yong Li the School of Automation Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Institute of Technology the Qian Xuesen Laboratory of Space Technology China Academy of Space Technology

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of Automation.

关键词： Adaptive control systems Algorithms attitude control Environmental regulations Graph theory Rigid structures Sliding mode control Synchronization

attitude control allocation strategy of high altitude airship based on synthetic performance optimization

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Journal of Harbin Institute of Technology(New Series) 2009年第6期16卷 746-750页

作者：遆晓光韩放姚郁 control and Simulation Center Harbin Institute of Technology

This paper presents a method for solving the attitude control problem of high altitude airship (HAA) with aerodynamic fin and vectored thruster control. The algorithm is based on the synthetic optimization of dynamic performance and energy consumption of airship. Firstly, according to the system overall configuration, the dynamic model of HAA was established and the HAA linearized model of longitudinal plane motion was obtained. Secondly, using the classic PID control theory, the HAA attitude control system was designed. Thirdly, through analyzing the dynamic performance of airship with fin or vectored thruster control, the synthetic performance index function with different weighting functions was determined. By means of optimizing the obtained performance index function, the attitude control of high altitude airship with good dynamic performance and low energy consumption was achieved. Finally, attitude control allocation strategy was designed for the airship station keeping at an altitude of 22 km. The simulation experiment proved the validity of the proposed algorithm.

关键词： high altitude airship attitude control synthetic performance optimization control strategy

control synthesis for polynomial nonlinear systems and application in attitude control

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2008年第6期9卷 833-839页

作者： Chang-fei TONG Hui ZHANG You-xian SUN Institute of Industrial Process control Zhejiang University Hangzhou 310027 China

A method for positive polynomial validation based on polynomial decomposition is proposed to deal with control synthesis problems. Detailed algorithms for decomposition are given which mainly consider how to convert coefficients of a polynomial to a matrix with free variables. Then, the positivity of a polynomial is checked by the decomposed matrix with semidefinite programming solvers. A nonlinear control law is presented for single input polynomial systems based on the Lyapunov stability theorem. The control synthesis method is advanced to multi-input systems further. An application in attitude control is finally presented. The proposed control law achieves effective performance as illustrated by the numerical example.

关键词： Nonlinear control attitude control Polynomial systems

Integrated Power and Single Axis attitude control System with Two Flywheels

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Chinese Journal of Mechanical Engineering 2012年第3期25卷 564-575页

作者： HAN Bangcheng School of Instrument Science and Opto-electronics Engineering Beihang UniversityBeijing 100191China

The existing research of the integrated power and attitude control system（IPACS） in satellites mainly focuses on the IPACS concept,which aims at solving the coupled problem between the attitude control and power *** the IPACS,the configuration design of IPACS is usually not considered,and the coupled problem between two flywheels during the attitude control and energy storage has not been *** this paper,an integrated power and single axis attitude control system using two counter rotating magnetically suspended flywheels mounted to an air table is *** control method of power and attitude control using flywheel is investigated and the coupling problem between energy storage and attitude control is resolved.A computer simulation of an integrated power and single axis attitude control system with two flywheels is performed,which consists of two counter rotating magnetically suspended flywheels mounted to an air rotary *** DC bus and a single axis attitude are the regulation *** attitude ＆ DC bus coordinator is put forward to separate DC bus regulation and attitude control *** simulation results of DC bus regulation and attitude control are presented respectively with a DC bus regulator and a simple PD attitude *** simulation results demonstrate that it is possible to integrate power and attitude control simultaneously for satellite using *** proposed research provides theory basis for design of the IPACS.

关键词： integrated power and attitude control system(IPACS) magnetically suspended flywheel attitude control computer simulation

Position tracking and attitude control for quadrotors via active disturbance rejection control method

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Science China(Information Sciences) 2019年第1期62卷 5-14页

作者： Yuan YUAN Lei CHENG Zidong WANG Chong SUN Department of Computer Science Brunel University London School of Astronautics Northwestern Polytechnical University

In this paper, a trigonometric-saturation-function-based position controller is designed for the quadrotor system with internal and external disturbances. Furthermore, in the attitude control problem, a dual closed-loop structure is put forward. Specifically, a nonlinear extended-state-observer(ESO) is employed to provide an estimate for the so-called total disturbance. Then, based on the estimate provided by the ESO,a nonlinear composite control strategy is designed for the purpose of angular tracking. Some sufficient conditions are established to guarantee that the position and attitude subsystems are stable. The contributions are mainly as follows.(1) A trigonometric-saturation-function is used in the position control which could guarantee that the studied system is fully-actuated.(2) The nonlinear ESO is implemented in the attitude control-loop which could enhance the anti-disturbance property. Finally, some numerical simulations and practical experiments are provided to verify the applicability of the proposed methodology.

关键词： position control quadrotor system extended-state-observer attitude control

PD-like finite time controller with simple structure for satellite attitude control

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Defence Technology（防务技术） 2023年第8期26卷 123-133页

作者： Li You Ye Dong Xiao Bing Xidian University Xi'an710126China Harbin Institute of Technology Harbin 150090China Northwestern Polytechnical University Xi'an710072China

A finite time controller with PD-like structure for satellite attitude control is proposed in this *** controller is constructed with simple structure based on standard PD *** fractional order term is designed hence system could both have strong robustness and finite time convergence rate,and the advantage of finite time control and PD control is combined in this *** convergence rate is discussed by Lyapunov method,and the constraint on control parameters is given by implementing the coupled term of angular velocity and attitude ***,the accuracy at steady stage depending on control parameters is given hence system could converge to this field within finite *** stability and performance is demonstrated by numerical simulation results.

关键词： Finite time control PD-like Simple structure attitude control