Robust output feedback attitude tracking control for rigid-flexible coupling spacecraft |
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| Institution: | 1. School of Mechanical Engineering, Harbin Institute of Technology, 150001 Harbin, China;2. School of Engineering and Applied Sciences, McMaster University, L8S 1A9 Hamilton, Canada;1. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110819, PR China;2. State Key Laboratory of Synthetical Automation of Process Industries, Northeastern University, Shenyang, Liaoning 110819, PR China;1. Institut Supérieur des Technologies de l’Information et de la Communication, Université de Carthage, Borj Cedria 1164, Tunis, Tunisia;2. Laboratoire Robotique, Informatique et Systèmes Complexes (RISC-LR16ES07), Ecole Nationale d’Ingénieurs de Tunis, Université de Tunis El Manar, BP. 37, Le Belvédère, 1002 Tunis, Tunisia |
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| Abstract: | This paper investigates the robust attitude tracking control problem for a rigid-flexible coupling spacecraft. First, the dynamic model for a rigid-flexible coupling spacecraft is established based on the first-order approximation method to fully reveal the coupling effect between rigid movement and flexible displacement when the spacecraft is in rapid maneuver. In the condition that flexible vibration measurements are not available, an robust output feedback controller which is independent of model is presented using Lyapunov method with considering state-independent disturbances. To resolve the chattering problem caused by the discontinuous sign function, a modified continuous output feedback controller is proposed by introducing functions with continuous property. Rigorous proof is achieved showing that the proposed control law ensures asymptotic stability and guarantees the attitude of a rigid-flexible spacecraft to track a time-varying reference attitude based on angle and angular velocity measurements only. Finally, simulations are carried out to verify the simplicity and effectiveness of the proposed control scheme. |
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