Attitude Control Research Articles

Fruit fly optimization algorithm with escape predation mechanism based direct lift control for automatic carrier landing

This paper designs a practical automatic carrier landing system (ACLS) that utilizes direct lift control (DLC) technology, and the controller parameters are optimized by using the enhanced fruit fly optimization algorithm with escape predation mechanism (EPFOA). The designed ACLS comprises the control channels of elevator, flap and throttle. The coordinated action of the elevator and flap can generate direct lift, enabling the aircraft to approach the desired glide path quickly and accurately. A decoupling module is designed to enhance the attitude stability of the aircraft during landing, thereby increase the success rate of landing. In order to achieve the better control effectiveness, the EPFOA is proposed to optimize the controller parameters of the DLC-based ACLS. Inspired by the predator-escape behavior between dingoes and sheep, EPFOA divides the whole fruit fly swarm into three categories: discovered escaping fruit fly (DEF), escaping fruit fly (EF) and predator fruit fly (PF). The PFs can ensure the population of convergence, while the DEFs and EFs can preserve the diversity of the population and avoid falling into local optima. Experiments are conducted in various cases, and the designed DLC-ACLS demonstrates superior ability in flight path adjustment and attitude control compared to the traditional F/A-18 ACLS in landing control. Additionally, the proposed EPFOA shows superior performance compared to other optimization algorithms.

Research on Design and Optimization of Micro-Hole Aerostatic Bearing in Vacuum Environment

Micro-hole aerostatic bearings are important components in micro-low-gravity simulation of aerospace equipment, and the accuracy of micro-low-gravity simulation tests is affected by them. In order to eliminate the influence of air resistance on the attitude control accuracy of remote sensing satellites and achieve high fidelity of micro-low-gravity simulation tests, in this study, a design and parameter optimization method was proposed for micro-hole aerostatic bearings for a vacuum environment. Firstly, the theoretical analysis was conducted to investigate the impact of various bearing parameters and external conditions on the bearing load capacity and mass flow. Subsequently, a function model describing the variation in bearing load capacity and mass flow with bearing parameters was obtained utilizing a BP neural network. The parameters of aerostatic bearings in a vacuum environment were optimized using the non-dominated sorting genetic algorithm (NSGA-II) with the objectives of maximizing the load capacity and minimizing the mass flow. Subsequently, experimental tests were conducted on the optimized bearings in both atmospheric and vacuum conditions to evaluate their load capacity and mass flow. The results show that in a vacuum environment, the load capacity and mass flow of aerostatic bearings are increased compared to those in standard atmospheric conditions. Furthermore, it has been determined that the optimal solution for the bearing’s load capacity and mass flow occurs when the bearing has an orifice aperture of 0.1 mm, 36 holes, and an orifice distribution diameter of 38.83 mm. The corresponding load capacity and mass flow are 460.644 N and 11.816 L/min, respectively. The experimental and simulated errors are within 10%; thus, the accuracy of the simulation is verified.

Improved contactless attitude control law of uncooperative spacecraft by laser ablation

Laser ablation technology enables contactless debris removal, providing the advantages of safety and cost efficiency. To deorbit space debris using laser ablation, the attitude motion of the debris must be controlled in advance. Although a previous study derived an attitude control procedure, it empirically determines control gains and is easily affected by assumed preconditions. To solve this problem, this paper proposes an improved attitude control law using laser ablation. Previous methods use feedback control based on the angular velocity error and error quaternions to obtain a reference torque. By analogy with a magnetic attitude control law, this study designs a reference torque based on the angular momentum errors and presents theoretical condition for designing the control gains. Numerical examples using the proposed control law are conducted to control the target attitude from a random initial rotation of 1 rpm to an arbitrary attitude, which verify the effectiveness of the proposed method. Furthermore, the position, direction, and magnitude uncertainties of laser irradiation are introduced to numerically examine their effects on the control accuracy under environmental disturbances.

Appointed time control for flexible satellite with active vibration suppression

This work addresses the problem of achieving precise appointed time attitude control and rapid active vibration suppression in flexible satellites. Firstly, an appointed time piecewise sliding mode controller is developed to ensure the convergence of attitude error to the vicinity of the origin at the appointed time. The convergence time can be predetermined using a parameter. Secondly, a modal observer is introduced to estimate the vibrations in the flexible elastic modal, and a predefined-time active vibration suppression controller is designed to mitigate the elastic vibrations in flexible solar panels. The stability of both controllers is proven using the Lyapunov theory. Finally, simulations are conducted to validate the proposed control strategy. Through comparison with two predefined time controllers, it is evident that the proposed controller achieves more precise convergence time, smoother attitude variations, and minimal magnitude of control inputs.

Microsatellite Yaw-axis Attitude Control System Using Model Reference Adaptive Control Based PID Controller

This paper presents a Model Reference Adaptive Control (MRAC) based Proportional Integral and Derivative (PID) controller for microsatellite yaw-axis Attitude Control System (ACS). The objective is to combine the algorithm of MRAC with PID to improve the performance of a microsatellite system especially settling time. MRAC based PID controller for yaw-axis ACS was modelled and simulated in MATLAB/Simulink to meet transient response characteristics specifications. The performance of the system was evaluated in terms of rise time, settling time, maximum overshoot, and steady-state error including energy consumption measured based on armature voltage of the direct current motor. The simulation results revealed that the proposed system meets all the performance specifications and outperformed classical PID controller for adaption gain of 0.2 to 20. When compared with PID and Proportional Derivative (PD) based Controllers in previous study for adaption gain of 10, 15, and 20, the proposed system proved to be superior. Generally, the choice of the MRAC based PID controller considering the range of adaption gain (γ = 0.1 to 20) should be based on either transient response advantage or energy consumption or even both over PID controller. The significance of this study is that an MRAC based PID controller that offered wide range of adaption capability for microsatellite ACS has been proposed.

Dual-stage control method for continuous hopping on the surface of small celestial bodies

Surface movement exploration techniques are an important approach to further the understanding of small celestial bodies. Hopping movement is employed to take advantage of the weak gravitational field of small celestial bodies, facilitating long-distance mobility of the rover. The rover exhibits a strong attitude-orbit coupling characteristic during the hopping movement. Different contact attitudes contribute to the challenge of determining the rebound trajectory, rendering it difficult for the rover to maintain continuous movement towards the target position along the nominal trajectory. In this paper, a dual-stage control method for continuous surface hopping movement is developed, wherein the control is applied separately during the flight stage and the collision stage. During the flight stage, applying attitude control enables the rover to establish contact with the surface in a specific attitude, ensuring accuracy in movement direction and creating favorable conditions for the control process in the collision stage. The flywheel is controlled in the collision stage to correct the state change and energy loss due to the collision, enabling the rover to attain the desired hopping state. Considering the energy consumption of the rover, the minimum hopping velocity sequence and angular velocity sequence are designed based on the hopping angle and heading angle. The intricacies and uncertainties inherent in the surface environment of small celestial bodies pose challenges for the rover during hopping and flying. In response to the issue, a finite-time adaptive sliding-mode control law is devised. The control law facilitates the rapid adjustment of the rover to the target attitude in flight, demonstrating strong robustness. In addition, by integrating the changes in contact point velocity with the impulse contact model, the accuracy of the rover's rebound state updates is enhanced. Finally, a set of simulations is performed, and simulation results indicate that the dual-stage control method can achieve a final landing position error of less than 0.2 m for a continuously hopping. The finite-time adaptive sliding-mode control law can stabilize the rover's attitude within 10 s. Conducting 500 Monte Carlo simulations of the continuously hopping rover in three small celestial body surface simulation environments shows that the position endpoint error is within 0.3 m.

Cu-doped KTN crystal with controllable, reversible, and fast photochromic properties: A superior electro-optical material for improving beam deflection performance

Improving the deflection performance of a beam deflector is urgently required to acquire optical signals for space laser communication and change the attitude and position of space targets and spacecraft. In this work, a Cu-doped potassium tantalate niobate (Cu-KTN) single crystal with fast photochromic and increased beam deflection properties is synthesized using the top-seeded solution growth method. When a Cu-KTN single crystal is irradiated with 405 nm light or ultraviolet (UV) light, the color changes from pale green to reddish brown. After light irradiation, the color gradually returns to yellowish green. Decolorization is accelerated under irradiation with green light or long-wavelength light, and the color changes to pale green. The origin of reversible photochromism reveals the fast valence change of Cu ions. In addition, ion doping improves the beam deflection angle of the secondary electro-optical effect of Cu-KTN (4.3 mrad, 1000 V) crystal compared with pure KTN (3.2 mrad, 1000 V). This study successfully synthesizes Cu-KTN single crystals with photochromic uses and establishes a new route for beam deflectors with significant deflection angles.

Attitude and position control for formation flying of space robots equipped with a robotic manipulator

This paper presents a novel six degree-of-freedom guidance and control algorithm for free-flyer robots equipped with a robotic manipulator operating on the International Space Station. The proposed algorithm combines a sliding mode controller for rotational motion and a model predictive controller for translational motion. A novel prediction-twisting sliding mode controller (PT-SMC) is introduced to stabilize configuration changes induced by the manipulator and correlated disturbances and to achieve a trade-off among control law flexibility, robustness, and accuracy. The proposed PT-SMC is shown to have improved stability compared to a first-order sliding mode controller. Model predictive control is investigated as a position controller to achieve formation flight between multiple free flyers in a constrained environment, and a leader–follower approach is used to move a triangular formation of robots. A control allocation problem is solved to address the subdivision of attitude and position controls between twelve thrusters. Simulation results of multiple robots approaching a target object demonstrate the improved performance of the proposed control approaches.

Adaptive dynamic programming base on MMC device of a flexible high-altitude long endurance aircraft

Flexible high-altitude long endurance (HALE) aircraft face challenges such as the delay effect caused by aeroelasticity and low efficiency during high-altitude cruising. This paper addresses a new active control scheme that replaces traditional aerodynamic control surfaces with longitudinal and lateral moving masses and adopts an observer-based adaptive dynamic programming (ADP) control strategy, aiming to solve the attitude control of HALE aircraft with flexible wings. Firstly, considering the account of unsteady aerodynamics, attitude angular velocity, and moving masses, complete dynamic model is established for a flexible aircraft, in order to more accurately describe the state of the HALE aircraft. This model includes two moving masses to replace traditional ailerons and elevators. It is difficult to design attitude control strategies considering the delay effects and unknown dynamic disturbances of HALE aircraft. To this end, the actor-critic structure of the ADP approach is designed to achieve the near-optimal control strategy of the system, which eliminates the need for prior knowledge of model parameters. A fixed time disturbance observer (FTDO) is proposed to estimate the future tracking error information and unknown disturbances to improve the control performance of the attitude. Finally, the stability of the system is proved via the Lyapunov technique and a comprehensive simulation of HALE aircraft is provided. The simulation results show that the proposed control algorithm can enable the aircraft attitude angles to quickly response and maintain stability under gust wind. Compared with a single ADP control strategy, this paper's algorithm has advantages in response speed and error.

Sensing and Control Integration for Thrust Vectoring in Heavy UAVs: Real-World Implementation and Performance Analysis

Unmanned Aerial Vehicles (UAVs) have garnered significant attention among researchers due to their versatility in diverse missions and resilience in challenging conditions. However, electric UAVs often suffer from limited flight autonomy, necessitating the exploration of alternative power sources such as thermal engines. On the other hand, managing thermal engines introduces complexities and internal uncertainties into the system. In this paper, an Adaptive Robust attitude controller (ARAC) is proposed to address these challenges by drawing inspiration from helicopter solutions while minimizing mechanical intricacies. Specifically, the designed algorithm employs Thrust Vector Control (TVC) for an industrial heavy Multi-Ducted Fan (MDF), known for its superior static stability compared to conventional ducted fans. Subsequently, an integrated flap vanes system is positioned at the exhaust of the ducts for precise attitude control, effectively removing unwanted yaw moments associated with traditional propellers. This research builds on prior authors’ works to establish a proper mathematical and aerodynamic model. Also, using former simulation results to conduct real flight experiments aimed at enhancing TVC functionality. The findings highlight the effectiveness of this approach for heavy UAV applications. It is worth noting that the practical value of this research lies in its potential to significantly extend flight autonomy supplied by thermal engines and improve the resilience of UAVs in challenging real-world missions. This is particularly achievable provided that the design of flap vanes aligns closely with the dimensions of the duct system, offering a promising solution to a critical engineering challenge in the field of UAV technology.

Stability Assessment of the High-Speed Flywheel with AMBs on a Rotating Platform

With the continuous improvement of the performance and capabilities of spacecrafts, the application of active magnetic bearings (AMBs) has become a major focus in current research. The AMBs-flywheel system is not only responsible for attitude control but also provides the required energy during shadow periods. In magnetically suspended single gimbal control moment gyroscope (SGCMG), self-excited vibration caused by high-speed rotor rotation significantly affects the stability of the AMB system. The research focus lies in magnetically supporting the flywheel at high speeds with low power consumption to explore gyroscopic mechanics at ultra-high speeds and assess the corresponding stability. This study presents an assessment of the stability performance of a high-speed flywheel equipped on a single gimbal with an angular momentum of 75 Nm. To achieve ultra-high-speed operation under low driving power, a high-precise dynamic balance was performed followed by a novel unbalance control strategy of a radial and axial automatic balancing algorithm to suppress effectively synchronous vibrations due to nutation and precession. Corresponding experiments including static stable suspension experiments as well as low-speed, high-speed, and series-based stability assessments were conducted. Stable suspension at any speed ranging from 0 to 30,000 r/min was successfully implemented. The stability performance of the high-speed flywheel on a rotating platform at different gimbal speeds was verified, with a maximum speed reaching 31,200 r/min. The entire output torque process within the range of 30,000 r/min was revealed.

Control strategy for trading off solar power and control input while rendezvous and docking

This paper presents a novel strategy for decoupling the attitude and orbit equations of a CubeSat for rendezvous and docking with an uncontrollable cooperative target. For computing a safe trajectory, the proposed control algorithm takes into account the solar energy received by the CubeSat. The CubeSat is equipped with a thruster for orbit maneuvers, magnetic coils for attitude control, and four fixed single-sided rectangular solar panels. The coupled dynamics arising from the dynamical model of the spacecraft is solved using a novel weighted vector-based approach. This paper presents a linearized nonlinear optimal control problem arising in small spacecrafts while trying to maximize solar energy input in the rendezvous and docking process. An intermediate orbit is defined and used to divide the problem into two different optimal control problems: rendezvous optimization and docking optimization problems. A geometrical approach based on the shape of the chaser and the target is contemplated for collision avoidance while docking. The proposed controller design is modified whenever the sunlight is obstructed by the Earth, and the maneuvering controls are redesigned accordingly for optimal rendezvous and docking. Numerical simulations have been carried out to show the efficacy of the proposed concept for steering the trade-off between solar energy and control input during the rendezvous and docking of CubeSat with a tumbling target.

Spacecraft attitude testbed

Spacecraft attitude determination and control systems (ADCS) stand as a pivotal factor for ensuring the success of missions. As satellite sizes continue to decrease, the need for more intelligent and efficient control algorithms becomes increasingly pronounced. In response to this imperative, we propose the development of a scaled-down testbed specifically designed for evaluating satellites (ACDS). This testbed will demonstrate effective control of a CubeSat through the use of Helmholtz coils, magnetic torquer solenoids, reaction wheels and inexpensive student-made components and available components off the shelf (COTS) in the San Diego State University SPACE Lab. Referred to as the Spacecraft Attitude Testbed (SAT), this custom-designed 3-DoF experimental attitude platform replicates the conditions experienced by a weightless satellite in space. The objective of this research paper is to improve the understanding of how to manufacture a testbed and components like those within this paper, expose some of the issues encountered and improve the outcomes for future academic testbeds. Within this study, the testbed employs torque application to magnetic torquers and reaction wheels to regulate attitude. In summary, this research endeavors to establish a comprehensive and cost-effective testbed platform dedicated to the assessment of spacecraft attitude control and determination systems. It not only seeks to enhance our understanding of advanced control algorithms but also aims to contribute valuable insights into fault detection and adaptive control strategies, ultimately bolstering the efficiency and robustness of satellite operations.

An Advanced Hexacopter for Mars Exploration: Attitude Control and Autonomous Navigation

An Advanced Hexacopter for Mars Exploration: Attitude Control and Autonomous Navigation

Fixed-Time Collision-Free Fault-Tolerant Formation Control of Multi-UAVs Under Actuator Faults.

When cooperating through an intensive formation, the safe distancing of unmanned aerial vehicles (UAVs) is a delicate issue, especially if UAVs are subjected to actuator faults that cause rapid maneuvers. This article investigates the fixed-time fault-tolerant formation control of multiple quadrotor UAVs under actuator faults, which considers the collision avoidance among UAVs when faults occur, and the convenience of engineering application. First, an augmented fixed-time observer with measurement noise oppression is adopted to estimate and compensate actuator faults and disturbance in rotational and translational dynamics. Then, a baseline attitude controller, a command filter, and a velocity controller are proposed for each quadrotor UAV to track the desired velocity within a fixed time. Next, a distributed fixed-time sliding-mode controller that integrates the gradient of repulsive potential function into the sliding manifold is designed to achieve leader-follower formation control and collision avoidance simultaneously. The control scheme is proven to be fixed-time convergent via Lyapunov stability analysis and is normalized in accordance with the compatibility of hardware implementation. Finally, the designed algorithm is embedded into PX4 architecture to illustrate the effectiveness and practicality of the control strategy.

Dynamic Event-Triggered and Self-Triggered Fault-Tolerant Attitude Control for Multiple Spacecraft Systems With Uncertainties and Input Saturation

Dynamic Event-Triggered and Self-Triggered Fault-Tolerant Attitude Control for Multiple Spacecraft Systems With Uncertainties and Input Saturation

Scaling procedure for on-ground testing of a robust attitude and vibration control architecture for a large flexible satellite

The agility of satellites equipped with large and flexible structures, such as solar panels or antennas, poses a significant challenge due to the influence of elastic dynamics on attitude motion. This results in reduced pointing accuracy and dimensional stability of the payload. To address this issue, an Active Collocated Attitude Control (ACAC) system has been developed, utilizing actuators for both the elastic dynamics (distributed piezoelectric devices) and attitude control (ON-OFF thrusters). In the initial phase of the project, the algorithm underwent extensive verification using a high-fidelity numerical model of a spacecraft with two very-low frequency flexible solar panels and a payload consisting of two long booms and a transversal antenna's reflector. The paper focuses on the second phase of the project, which revolves around the experimental verification of the control architecture concept. To achieve this, a scaling procedure employing the dynamic analogy approach was implemented to determine the design parameters of a free-floating platform equipped with elastic appendages. This ensured that the resulting elastic multibody system displayed similar dynamic behavior to the full-scale satellite. Based on the scaling parameters, a test rig was manufactured, and actuators and sensors were optimally positioned. The performance of the ACAC system was then compared to that of traditional benchmark controllers. The results show that the ACAC system demonstrates superior capabilities in performing fast slew maneuvers without developing unstable interactions with the elastic dynamics.

Optimization, guidance, and control of low-thrust transfers from the Lunar Gateway to low lunar orbit

The Lunar Gateway will represent a primary space system useful for the Artemis program, Earth–Moon transportation, and deep space exploration. It is expected to serve as a staging location and logistic outpost on the way to the lunar surface. This study focuses on low-thrust transfer dynamics, from the Near-Rectilinear Halo Orbit traveled by Gateway to a specified Low-altitude Lunar Orbit (LLO). More specifically, this research addresses two closely-related problems: (i) determination of the minimum-time low-thrust trajectory and (ii) design, implementation, and testing of a guidance and control architecture, for a space vehicle that travels from Gateway to LLO. Orbit dynamics is described in terms of modified equinoctial elements, with the inclusion of all the relevant perturbations, in the context of a high-fidelity multibody ephemeris model. The minimum-time trajectory from Gateway to a specified lunar orbit is detected through an indirect heuristic approach, which uses the analytical conditions arising in optimal control theory in conjunction with a heuristic technique. However, future missions will pursue a growing level of autonomy, and this circumstance implies the mandatory design and implementation of an efficient feedback guidance scheme, capable of compensating for nonnominal flight conditions. This research proposes nonlinear orbit control as a viable and effective option for autonomous explicit guidance of low-thrust transfers from Gateway to LLO. This approach allows defining a feedback law that enjoys quasi-global stability properties without requiring any offline reference trajectory. The overall spacecraft dynamics is modeled and simulated, including attitude control and actuation. The latter is demanded to an array of reaction wheels, arranged in a pyramidal configuration. Guidance, attitude control, and actuation are implemented in an iterative scheme. Monte Carlo simulations demonstrate that the guidance and control architecture at hand is effective in nonnominal flight conditions, i.e. with random starting point from Gateway as well as in case of temporary unavailability of the propulsion system. The numerical results also point out that only a modest propellant penalty is associated with the use of feedback guidance and control in comparison to the minimum-time optimal trajectory.

Integrated attitude—orbit control of solar sail with single-axis gimbal mechanism

A new attitude control method for solar sails is proposed using a single-axis gimbal mechanism and three-axis reaction wheels. The gimbal angle is varied to change the geometrical relationship between the force due to solar radiation pressure (SRP) and the center of mass of the spacecraft, such that the disturbance torque is minimized during attitude maintenance for orbit control. Attitude maneuver and maintenance are performed by the reaction wheels based on the quaternion feedback control method. Even if angular momentum accumulates on the reaction wheels due to modelling error, it can also be unloaded by using the gimbal to produce suitable torque due to SRP. In this study, we analyzed the attitude motion under the reaction wheel control by linearizing the equations of motion around the equilibrium point. Further, we newly derived the propellent-free unloading method based on the analytical formulation. Finally, we constructed the integrated attitude-orbit control method, and its validity was verified in integrated attitude-orbit control simulations.

Event-Triggered Supercavitating Vehicle Terminal Sliding Mode Control Based on Non-Recursive Observation

Supercavitating vehicles present significant issues in controller design due to their multiphase flow-coupling characteristics. This study addresses force analysis and the construction of a 6-degree-of-freedom mathematical model for a supercavitating vehicle. A terminal sliding mode control law is intended to guarantee the quick tracking of the command signal for high-precision attitude control. To drastically lower the frequency of actuation and communication, a mechanism to trigger events is also introduced into the control link. A disturbance observer, which estimates system uncertainty using a non-recursive differentiator, improves the robustness of the system. The Lyapunov approach is used to prove that the system is stable. Numerical simulation results validate that the proposed method enhances control accuracy and robustness. The event-trigger mechanism reduces the execution frequency to 18.59%, effectively reducing the communication burden.