Abstract
This paper aims to design a controller based on the Total Energy Control System (TECS) method, to solve the attitude trajectory tracking problem for rigid spacecraft. TECS objective is to command the total energy rate using a proportional-integral (PI) controller. The attitude control objective fixes the total energy rate objective. The spacecraft attitude is represented directly in the manifold of the Special Orthogonal Group SO(3). Ultimate boundedness of the closed-loop trajectories is concluded using Lyapunov theory. The second objective of this paper is to test the attitude controller through real-time experiments, employing a testbed based on an underwater prototype with neutral buoyancy that can rotate unrestricted around the three axes.
Highlights
A crucial point in solving the spacecraft attitude control problem is the selection of the attitude representation
This paper proposes a controller to solve the attitude trajectory tracking problem for rigid spacecraft
In this work, a nonlinear controller based on the Total Energy Control System method has been designed to solve the attitude trajectory tracking problem for rigid spacecraft
Summary
A crucial point in solving the spacecraft attitude control problem is the selection of the attitude representation. The work [1] presents a controller for rigid body attitude regulation, while [12] proposes a control for an aerial vehicle where the translational quadrotor controller and the desired yaw angle fix the attitude reference In both references, almost global asymptotic stability is concluded using Lyapunov theory. A drawback of the reported solutions to attitude control problems is the lack of real-time validation in an experimental platform that allows free motion around the three axes, as in the SPHERES project [22]. This paper reports two main contributions: the design of an attitude controller using the TECS methodology, and the real-time experimental validation of the resulting controller using an innovative platform that allows unrestricted rotation around the three axes.
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