ESO based Spacecraft Quantized Attitude Control with Disturbance
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- 英文论文题名：ESO based Spacecraft Quantized Attitude Control with Disturbance
- 论文作者：Qing Wang ; Ligang Gong ; Chaoyang Dong ; Yanze Hou
- 英文论文作者：Qing Wang ; Ligang Gong ; Chaoyang Dong ; Yanze Hou ; School of Automation Science and Electrical Engineering ; Beihang University ; School of Aeronautic Science and Engineering ; Beihang University ; Institute of Manned Space System Engineering ; CAST
- 年：2017
- 作者机构：School of Automation Science and Electrical Engineering,Beihang University;School of Aeronautic Science and Engineering,Beihang University;Institute of Manned Space System Engineering,CAST;
- 英文论文关键词：Quantized control ; spacecraft attitude motion ; extended state observer ; output feedback
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：V448.22
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：7
- 文件大小：464k
- 原文格式：D
- 会议级别：全国
摘要
Quantized control of spacecraft attitude under disturbance is considered in this study,without measurements of angular velocity.The attitude motion model adopted is described in terms of unit quaternion.Firstly,an extended state observer(ESO) is designed to estimate angular velocity and total disturbance simultaneously.The designed ESO can guarantee the norm constraint of unit quaternion is satisfied.The convergence of estimation error of ESO is proved within Lyapunov function framework.Secondly,the quantized control torque is designed based on the output of ESO,and rigorous proof of uniformly ultimately boundededness of the closed system is given considering the error bound property between quantized and ideal control torque.Finally,simulations results demonstrate the effectiveness of the proposed ESO and quantized control design scheme.
Quantized control of spacecraft attitude under disturbance is considered in this study,without measurements of angular velocity.The attitude motion model adopted is described in terms of unit quaternion.Firstly,an extended state observer(ESO) is designed to estimate angular velocity and total disturbance simultaneously.The designed ESO can guarantee the norm constraint of unit quaternion is satisfied.The convergence of estimation error of ESO is proved within Lyapunov function framework.Secondly,the quantized control torque is designed based on the output of ESO,and rigorous proof of uniformly ultimately boundededness of the closed system is given considering the error bound property between quantized and ideal control torque.Finally,simulations results demonstrate the effectiveness of the proposed ESO and quantized control design scheme.
Quantized control of spacecraft attitude under disturbance is considered in this study,without measurements of angular velocity.The attitude motion model adopted is described in terms of unit quaternion.Firstly,an extended state observer(ESO) is designed to estimate angular velocity and total disturbance simultaneously.The designed ESO can guarantee the norm constraint of unit quaternion is satisfied.The convergence of estimation error of ESO is proved within Lyapunov function framework.Secondly,the quantized control torque is designed based on the output of ESO,and rigorous proof of uniformly ultimately boundededness of the closed system is given considering the error bound property between quantized and ideal control torque.Finally,simulations results demonstrate the effectiveness of the proposed ESO and quantized control design scheme.
引文
[1]De Angelis E L,Giulietti F,De Ruiter A H J,et al,Spacecraft attitude control using magnetic and mechanical actuation,Journal of Guidance,Control,and Dynamics,38(11):564-573,2015.
[2]Gui H,Vukovich G,Xu S,Attitude Stabilization of a Spacecraft with Two Parallel Control Moment Gyroscopes,Journal of Guidance,Control,and Dynamics,39(3):728-735,2016.
[3]Kalabica U V,Guptaa R,Di Cairanob S,et al,MPC on manifolds with an application to the control of spacecraft attitude on SO(3),Automatica,76(1):293-300.2017.
[4]Ping Z,Dong Y,Tang H,et al,Robust approach for attitude tracking and nonlinear disturbance rejection of rigid body spacecraft,IET Control Theory&Applications,10(17):2325-2330,2016.
[5]Zou Y,Attitude tracking control for spacecraft with robust adaptive RBFNN augmenting sliding mode control,Aerospace Science and Technology,56(1):197-204,2016.
[6]Thakur D,Srikant S,Akella M R,Adaptive attitude-tracking control of spacecraft with uncertain time-varying inertia parameters,Journal of Guidance,Control,and Dynamics,,38(1):41-52,2014.
[7]Schlanbusch R,Loria A,Kristiansen R,et al,PD+based output feedback attitude control of rigid bodies,IEEE Transactions on Automatic Control,57(8):2146-2152,2012.
[8]Hu J C,Zhang H H,Bounded output feedback of rigid-body attitude via angular velocity observers,Journal of Guidance,Control,and Dynamics,36(4):1240-1248,2013.
[9]Akella M R,Thakur D,Mazenc F,Partial Lyapunov strictification:smooth angular velocity observers for attitude tracking control,Journal of Guidance,Control,and Dynamics,38(3):442-451,2015.
[10]Guo B Z,Zhao Z L,On the convergence of an extended state observer for nonlinear systems with uncertainty,Systems&Control Letters,60(6):420-430,2011.
[11]Guo B Z,Zhao Z L,On convergence of non-linear extended state observer for multi-input multi-output systems with uncertainty,IET Control Theory&Applications,6(15):2375-2386,2012.
[12]Ran M P,Wang Q,Dong C Y,Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems.IEEE Transactions on Automatic Control,published online,DOI:10.1109/TAC.2016.2641980.
[13]Ran M P,Wang Q,Dong C Y,Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control.Automatica,63,302-310,2016.
[14]Wang Q,Ran M P,Dong C Y,Robust partial integrated guidance and control for missiles via extended state observer.ISA Transactions,65:27-36,2016.
[15]Tatikonda S,Mitter S,Control Under Communication Constraints,IEEE Transactions on Automatic Control,49(7):1056-1068,2005.
[16]Liu K,Fridman E,Johansson K H,et al,Quantized Control Under Round-Robin Communication Protocol,IEEE Transactions on Industrial Electronics,63(7):4461-4471,2016.
[17]Wu B,Spacecraft Attitude Control with Input Quantization,Journal of Guidance,Control,and Dynamics,39(1):176-181,2015.
[18]LEE T.Exponential stability of an attitude tracking control system on SO(3)for large-angle rotational maneuvers,Systems&Control Letters,61(1):231-237,2012.
[19]Kristic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and adaptive control design,.New York:Wiley,1995,chapter 2.
[2]Gui H,Vukovich G,Xu S,Attitude Stabilization of a Spacecraft with Two Parallel Control Moment Gyroscopes,Journal of Guidance,Control,and Dynamics,39(3):728-735,2016.
[3]Kalabica U V,Guptaa R,Di Cairanob S,et al,MPC on manifolds with an application to the control of spacecraft attitude on SO(3),Automatica,76(1):293-300.2017.
[4]Ping Z,Dong Y,Tang H,et al,Robust approach for attitude tracking and nonlinear disturbance rejection of rigid body spacecraft,IET Control Theory&Applications,10(17):2325-2330,2016.
[5]Zou Y,Attitude tracking control for spacecraft with robust adaptive RBFNN augmenting sliding mode control,Aerospace Science and Technology,56(1):197-204,2016.
[6]Thakur D,Srikant S,Akella M R,Adaptive attitude-tracking control of spacecraft with uncertain time-varying inertia parameters,Journal of Guidance,Control,and Dynamics,,38(1):41-52,2014.
[7]Schlanbusch R,Loria A,Kristiansen R,et al,PD+based output feedback attitude control of rigid bodies,IEEE Transactions on Automatic Control,57(8):2146-2152,2012.
[8]Hu J C,Zhang H H,Bounded output feedback of rigid-body attitude via angular velocity observers,Journal of Guidance,Control,and Dynamics,36(4):1240-1248,2013.
[9]Akella M R,Thakur D,Mazenc F,Partial Lyapunov strictification:smooth angular velocity observers for attitude tracking control,Journal of Guidance,Control,and Dynamics,38(3):442-451,2015.
[10]Guo B Z,Zhao Z L,On the convergence of an extended state observer for nonlinear systems with uncertainty,Systems&Control Letters,60(6):420-430,2011.
[11]Guo B Z,Zhao Z L,On convergence of non-linear extended state observer for multi-input multi-output systems with uncertainty,IET Control Theory&Applications,6(15):2375-2386,2012.
[12]Ran M P,Wang Q,Dong C Y,Active disturbance rejection control for uncertain nonaffine-in-control nonlinear systems.IEEE Transactions on Automatic Control,published online,DOI:10.1109/TAC.2016.2641980.
[13]Ran M P,Wang Q,Dong C Y,Stabilization of a class of nonlinear systems with actuator saturation via active disturbance rejection control.Automatica,63,302-310,2016.
[14]Wang Q,Ran M P,Dong C Y,Robust partial integrated guidance and control for missiles via extended state observer.ISA Transactions,65:27-36,2016.
[15]Tatikonda S,Mitter S,Control Under Communication Constraints,IEEE Transactions on Automatic Control,49(7):1056-1068,2005.
[16]Liu K,Fridman E,Johansson K H,et al,Quantized Control Under Round-Robin Communication Protocol,IEEE Transactions on Industrial Electronics,63(7):4461-4471,2016.
[17]Wu B,Spacecraft Attitude Control with Input Quantization,Journal of Guidance,Control,and Dynamics,39(1):176-181,2015.
[18]LEE T.Exponential stability of an attitude tracking control system on SO(3)for large-angle rotational maneuvers,Systems&Control Letters,61(1):231-237,2012.
[19]Kristic M,Kanellakopoulos I,Kokotovic P V.Nonlinear and adaptive control design,.New York:Wiley,1995,chapter 2.