A Simple Structure Constrained Attitude Control for Rigid Bodies: A PD-Type Control

Mehdi Golestani,Khalid A Alattas,Abdullah K Alanazi,Sami Ud Din,Afef Fekih,Saleh Mobayen

doi:10.1109/access.2022.3144627

Abstract

This study investigates the challenging and complicated issue of full-state constraint attitude control for rigid bodies under actuators physical limitation. Using the concept of prescribed performance control (PPC), a novel proportional-derivative (PD)-type control is introduced by which both the attitude quaternion and the rotation velocity of the rigid body are enforced to possess specific behaviors in transient and steady state. To this end, a prescribed performance function (PPF) with finite-time convergence is first defined as the predefined boundaries for the quaternion and rotation velocity. Subsequently, a constrained PD-type attitude control for rigid body attitude system is developed. The significant difference between the proposed methodology and the PPC is the simple structure of the controller making it more applicable from practical implementation point of view. Indeed, due to the use of error transformation in the PPC, the controller contains partial derivative terms and complicated functions even for only constraining the attitude quaternion. When it comes to angular velocity constraint as well, the complexity of the control design procedure is doubled. It is rigorously proved that the suggested control framework can successfully satisfy constraints not only on the quaternion but also on the angular velocity, simultaneously. These interesting results are obtained even when the actuator saturation is considered. The simulation results conducted on a rigid spacecraft verify the efficacy and applicability of the suggested constrained attitude control approach.

Highlights

Attitude control system, as an important part of rigid bodies such as spacecraft [1], [2] and UAVs [3], [4], plays a crucial role in missions success
Despite the fact that the PD-type control problem for rigid body attitude stabilization has been studied in the past, a constrained PD-type control approach is proposed in this paper which is able to provide the prescribed performance in transient and steady-state for full states
In [22], it has been rigorously explained that the predefined performance for the attitude variable is obtained if it is remained within a specific area which is bounded by the prescribed performance function (PPF)

Summary

INTRODUCTION

As an important part of rigid bodies such as spacecraft [1], [2] and UAVs [3], [4], plays a crucial role in missions success. Problem has witnessed a considerable development, there is still a challenging issue on how to design an effective attitude control in spite of the actuators saturation and external disturbance Considering these two factors, a wide variety of attitude controls for rigid body systems has been presented; see for example [14]–[17]. The pioneering research in providing predefined performance in transient and steady state for nonlinear systems was carried out in [22] and followed in many works such as [23]–[29] This concept has been employed in attitude control design for rigid bodies. Despite the fact that the PD-type control problem for rigid body attitude stabilization has been studied in the past, a constrained PD-type control approach is proposed in this paper which is able to provide the prescribed performance in transient and steady-state for full states.

PROBLEM FORMULATION

PRESCRIBED PERFORMANCE FUNCTION

SIMULATION RESULTS

PART 1

CONCLUSION