Adaptive Nonlinear Proportional-Derivative Type Fault Tolerant Control for Flexible Spacecraft Attitude Maneuvers under Bounded Disturbances
Publication: Journal of Aerospace Engineering
Volume 25, Issue 2
Abstract
Semiglobally input-to-state stable (ISS) control law is derived for flexible spacecraft attitude maneuvers in the presence of parameter uncertainties, external disturbances, and actuator fault. As a stepping stone, a nonlinear-proportional-plus-derivative (NPD) type controller plus a sign function is developed for the fault-free system. A sufficient condition under which this NPD type control law can render the system semiglobally input-to-state stable is provided such that closed-loop system is robust with respect to any disturbance within a quantifiable restriction on amplitude, as well as the set of initial conditions, if the control gains are designed appropriately. Based on the online estimation of eventual actuator faults, this controller is redesigned for the attitude control system with actuator failures by adding a new control term to the original to reduce the actuator fault effect on the system without the need for a fault detection and isolation mechanism. In addition to detailed derivations of the new controllers design and the associated stability and attitude convergence proofs, simulation studies have been conducted to validate the design, and the results are presented to highlight the ensuring closed-loop performance benefits when compared with the conventional control schemes.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This present work was supported by the Scientific Research Foundation for the Returned Overseas Chinese Scholars of State Education Ministry, Scientific Research Foundation for the Returned Overseas Chinese Scholars of Heilongjiang Province (LC08C01), National Natural Science Foundation of China (Project Number: 61004072), Fundamental Research Funds for the Central Universities (Project Number: HIT.NSRIF.2009003), Research Fund for the Doctoral Program of Higher Education of China (Project Number: 20070213061), and Scientific Research Foundation for the Returned Overseas Chinese Scholars of Harbin (Project Number: 2010RFLXG001). The writer fully appreciates the financial support. The writer would also like to thank the reviewers and editor for many suggestions that helped improve the paper.
References
Blanke, M., Kinnaert, Mi, Lunze, J., and Staroswiecki, M. (2006). Diagnosis and fault-tolerant control, 2nd Ed., Springer Berlin, Heidelberg, New York.
Boškovic, J. D., Bergstrom, S., and Mehra, R. K. (2005). “Robust integrated flight control design under failures, damage, and state-dependent disturbances.” J. Guid. Control Dyn.JGCDDT, 28(5), 902–917.
Boškovic, J. D., Li, S. M., and Mehra, R. K. (1999). “Intelligent control of spacecraft in the presence of actuator failures.” Proc. 38th IEEE Conf. on Decision & Control, American Institute of Aeronautics and Astronautics (AIAA), Reston, VA, 4472–4477.
Boškovic, J. D., Li, S. M., and Mehra, R. K. (2004). “Robust tracking design for spacecraft under control input saturation.” J. Guid. Control Dyn.JGCDDT, 27(4), 627–633.
Cai, W. C., Xiao, X. L., and Song, Y. D. (2008). “Indirect robust adaptive fault-tolerant control for attitude tracking of spacecraft.” J. Guid. Control Dyn.JGCODS, 31(5), 1456–1463.
Carrington, C. K., and Junkins, J. L. (1986). “Optimal nonlinear feedback control for spacecraft attitude maneuvers.” J. Guid. Control Dyn.JGCDDT, 9(1), 99–107.
Chen, W., and Jiang, J. (2005). “Fault tolerant control against stuck actuator faults.” IEE Proc. Control Theory and ApplicationsICTAEX, 152(2), 138–146.
Chen, Y. P., and Lo, S. C. (1993). “Sliding-mode controller design for spacecraft attitude tracking maneuvers.” IEEE Trans. Aerosp. Electron. Syst.IEARAX, 29(4), 1328–1333.
Di Gennaro, S. (2003). “Output stabilization of flexible spacecraft with active vibration suppression.” IEEE Trans. Aerosp. Electron. Syst.IEARAX, 39(3), 747–759.
Di Gennaro, S. (1998). “Active vibration suppression in flexible spacecraft attitude tracking control.” J. Guid. Control Dyn.JGCDDT, 21(3), 400–408.
Gahinet, P., Nemirovski, A., Laub, A. J., and Chilali, M. (1995). LMI control toolbox user’s guide, The Math Works, Natick, MA.
Hokayem, P. F., and Schilling, K. (2008). “Input-to-state stable attitude control.” J. Guid. Control Dyn.JGCDDT, 31(6), 1826–1829.
Hu, Q. L., and Ma, G. F. (2005). “Variable structure control and active vibration suppression of flexible spacecraft during attitude maneuver.” Aerosp. Sci. Technol., 9(4), 307–317.
Hu, Q. L., Shi, P., and Gao, H. J. (2007). “Adaptive variable structure and commanding shaped vibration control of flexible spacecraft.” J. Guid. Control Dyn.JGCDDT, 30(3), 804–815.
Ioannou, P. A., and Sun, J. (1996). Robust adaptive control, Prentice-Hall, Englewood Cliffs, NJ.
Iyer, A., and Singh, S. N. (1991). “Variable structure slewing control and vibration damping of flexible spacecraft.” Acta Astronaut.AASTCF, 25(1), 1–9.
Jiang, B., Staroswiecki, M., and Cocquempot, V. (2004). “Fault diagnosis based on adaptive observer for a class of non-linear systems with unknown parameters.” Int. J. ControlIJCOAZ, 77(4), 367–383.
Jin, J. H., Ko, S. H., and Ryoo, C. K. (2008). “Fault tolerant control for satellites with four reaction wheels.” Control Eng. Pract.COEPEL, 16(10), 1250–1258.
Junkins, J. L., Akella, M. R., and Robinett, R. D. (1997). “Nonlinear adaptive control of spacecraft maneuvers.” J. Guid. Control Dyn.JGCDDT, 20(6), 1104–1110.
Khalil, H. (2002). Nonlinear systems, 3rd Ed., Prentice-Hall, Upper Saddle River, NJ.
Maganti, G. B., and Singh, S. N. (2007). “Simplified adaptive control of an orbiting flexible spacecraft.” Acta Astronaut.AASTCF, 61(7–8), 575–589.
Schaub, H., Akella, M. R., and Junkins, J. L. (2001). “Adaptive control of nonlinear attitude motions realizing linear closed loop dynamics.” J. Guid. Control Dyn.JGCDDT, 24(1), 95–100.
Singh, S. N. (1988). “Rotational maneuvers of nonlinear uncertain spacecraft.” IEEE Trans. Aerospace Electronic and Systems, 24(2), 114–123.
Singh, S. N., and Zhang, R. (2004). “Adaptive output feedback control of spacecraft with flexible appendages by modeling error compensation.” Acta Astronaut.AASTCF, 54(4), 229–243.
Subbarao, K. (2004). “Nonlinear PID-like controllers for rigid-body attitude stabilization.” J. Astronautical SciencesJALSA6, 52(1–2), 61–74.
Tang, X. D., Tao, G., and Joshi, S. M. (2007). “Adaptive actuator failure compensation for nonlinear MIMO systems with an aircraft control application.” AutomaticaATCAA9, 43(11), 1869–1883.
Tao, G., Joshi, S. M., and Ma, X. L. (2001). “Adaptive state feedback and tracking control of systems with actuator failures.” IEEE Trans. Autom. ControlIETAA9, 46(1), 78–95.
Tsiotras, P. (1996). “Stabilization and optimality results for the attitude control problem.” J. Guid. Control Dyn.JGCDDT, 19(4), 772–779.
Tsiotras, P. (1998). “Further passivity results for the attitude control problem.” IEEE Trans. Autom. ControlIETAA9, 43(11), 1597–1600.
Vadali, S. R. (1986). “Variable-structure control of spacecraft large-angle maneuvers.” J. Guid. Control Dyn.JGCDDT, 9(2), 235–239.
Wen, J. T. Y., and Kreutz-Delgado, K. (1991). “The attitude control problem.” IEEE Trans. Autom. ControlIETAA9, 36(10), 1148–1162.
Yang, G. H., and Ye, D. (2006). “Adaptive fault-tolerant control via state feedback for linear systems against actuator faults.” Proc. 45th IEEE Conf. on Decision and Control 2006, 3530–3535.
Ye, D., and Yang, G. H. (2006). “Adaptive fault-tolerant tracking control against actuator faults with application to flight control.” IEEE Transactions on Control Systems TechnologyIETTE2, 14(6), 1088–1096.
Zeng, Y., Araujo, A. D., and Singh, S. N. (1999). “Output feedback variable structure adaptive control of a flexible spacecraft.” Acta Astronaut.AASTCF, 44(1), 11–22.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 25 • Issue 2 • April 2012
Pages: 178 - 190
Copyright
© 2012. American Society of Civil Engineers.
History
Received: Jan 8, 2009
Accepted: Jan 13, 2011
Published online: Jan 15, 2011
Published in print: Apr 1, 2012
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.