Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties

W. MacKunis; K. Dupree; N. Fitz-Coy; W. E. Dixon

doi:10.1007/BF03256544

Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties

W. MacKunis, K. Dupree, N. Fitz-Coy, W. E. Dixon

University of Florida

Research output: Contribution to journal › Article › peer-review

Abstract

A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the control input is multiplied by uncertainties due to dynamic friction effects and is embedded in a discontinuous nonlinearity due to static friction effects. A uniformly ultimately bounded result is proven via Lyapunov analysis for the case in which both static and dynamic gimbal friction is included in the dynamic model, and an extension is provided that illustrates how asymptotic tracking is achieved when only dynamic friction is present in the CMG model.

Original language	American English
Journal	The Journal of the Astronautical Sciences
Volume	56
DOIs	https://doi.org/10.1007/BF03256544
State	Published - Mar 2008
Externally published	Yes

Keywords

discontinuous nonlinearity
asymptotic tracking
model reference adaptive controller
satellite inertia

Disciplines

Aerospace Engineering

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title = "Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties",

abstract = " A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the control input is multiplied by uncertainties due to dynamic friction effects and is embedded in a discontinuous nonlinearity due to static friction effects. A uniformly ultimately bounded result is proven via Lyapunov analysis for the case in which both static and dynamic gimbal friction is included in the dynamic model, and an extension is provided that illustrates how asymptotic tracking is achieved when only dynamic friction is present in the CMG model.",

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AU - MacKunis, W.

AU - Dupree, K.

AU - Fitz-Coy, N.

AU - Dixon, W. E.

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N2 - A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the control input is multiplied by uncertainties due to dynamic friction effects and is embedded in a discontinuous nonlinearity due to static friction effects. A uniformly ultimately bounded result is proven via Lyapunov analysis for the case in which both static and dynamic gimbal friction is included in the dynamic model, and an extension is provided that illustrates how asymptotic tracking is achieved when only dynamic friction is present in the CMG model.

AB - A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the control input is multiplied by uncertainties due to dynamic friction effects and is embedded in a discontinuous nonlinearity due to static friction effects. A uniformly ultimately bounded result is proven via Lyapunov analysis for the case in which both static and dynamic gimbal friction is included in the dynamic model, and an extension is provided that illustrates how asymptotic tracking is achieved when only dynamic friction is present in the CMG model.

KW - discontinuous nonlinearity

KW - asymptotic tracking

KW - model reference adaptive controller

KW - satellite inertia

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U2 - 10.1007/BF03256544

DO - 10.1007/BF03256544

M3 - Article

VL - 56

JO - The Journal of the Astronautical Sciences

JF - The Journal of the Astronautical Sciences

ER -

Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties

Abstract

Keywords

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