Attitude Maneuver Research Articles

An Orbital-attitude Coupled Control Framework for a Full-scale Flexible Electric Solar Wind Sail Spacecraft in Orbital Transformation Missions

In this work, a novel orbital-attitude coupled control framework is developed for the electric solar wind sail (E-sail) spacecraft, aiming to handle the orbital transformation and attitude maneuver simultaneously. In the framework, the desired attitude parameters and the slow-varying voltage component are provided by the orbital control strategy, while the current attitude parameters and the fast-varying voltage component are manipulated by the attitude control strategy to approach their desired values. The orbital-attitude coupled characteristics of the E-sail spacecraft, including the flexibility-induced coupling effect, are fully described by the referenced nodal coordinate formulation. Considering the input saturation conditions, the governing equation for the orbital control strategy is then derived, in which the in-plane and out-of-plane displacement and velocity errors are prescribed as the state variables to be eliminated. An integral sliding mode control (ISMC) scheme is proposed to improve the robustness against the unmeasurable disturbance term. A model predictive control (MPC) scheme is introduced to enhance the convergence efficiency, where a quadratic optimization is performed to plan the desired attitude parameters and voltage components within the prediction horizon. To evaluate the control performance in the orbital transformation and attitude maneuver missions on the displaced non-Keplerian orbit, a series of scenarios with complex initial conditions are simulated under different control schemes, including the ISMC-MPC compound scheme. The results show that the control strategy designed under the rigid-body assumptions may not be feasible for the flexible E-sail spacecraft, while the investigated control strategy realizes the accurate and efficient convergence of the orbital and attitude variables on both the rigid and flexible E-sail spacecraft with the tether deformation stabilized.

Attitude Tracking of Rigid-Liquid-Flexible Coupling Spacecraft by Active Disturbance Rejection Control

Considering the complex attitude dynamics of Rigid-Liquid-Flexible Coupling Spacecraft, especially when the large amplitude sloshing of liquid exists in rapid attitude maneuver, the conventional control design method based on the linearized model is not suitable for the significant coupling and strong nonlinearity. By contrast, Active Disturbance Rejection Control is model-independent and easy to design and implement. In this paper, the three main components of Active Disturbance Rejection Control, Tracking Differentiator, Extended State Observer and Nonlinear State Error Feedback are comprehensively applied to the attitude tracking control of Rigid-Liquid-Flexible Coupling Spacecraft. Firstly, two cascaded Tracking Differentiators are used to arrange the transition process of the attitude command, which not only reduces overshoot and oscillation of the tracking process, but also obtains the angular acceleration information of attitude trajectory for feed-forward compensation. Secondly, the total disturbance caused by liquid sloshing and flexible vibration is observed by Extended State Observer and compensated synchronously. Finally, the Nonlinear State Error Feedback is used to further improve the transient behavior and steady-state quality of the control system. The simulation results show that the tracking accuracy of the attitude and angular velocity using the Active Disturbance Rejection Control are about 3 to 27 times and 6 to 115 times that of the PID control, respectively. The convergence time, overshooting are also significantly less than the PID control.

Optimal Agile Satellite Target Scheduling with Learned Dynamics

Target sequencing is an important aspect of agile Earth-observing satellite scheduling. The objective of the problem is to find a feasible imaging sequence that maximizes the cumulative value of unique heterogeneously valued requests; no expendable resource constraints (power and data storage) are considered. Two challenges are encountered: transition times between targets are dictated by dynamics of an arbitrary controller, and the solution space is combinatorial with respect to request count. To find dynamically accurate time-dependent attitude maneuver transition times, a neural network is trained on simulated slew data; this allows for the generation of more physically accurate, and thus better performing, schedules than when using the traditional approach of lower-order models for slew feasibility. Next, slews between requests are represented by a sparsified graph, and a mixed-integer linear program is formulated to solve them; the sparse formulation keeps the problem tractable over longer planning horizons and larger numbers of requests when compared to the standard approach. The solutions are optimal up to the quality of the transition time estimator and a time discretization. Finally, the solutions are verified in a high-fidelity simulation, demonstrating validity when deployed on a lifelike system. Time-dependent request values and multiple satellites are also considered.

Vibration-attitude integrated control of large membrane diffraction space telescope

The development of telescopes with large apertures is driven by the increasing demand for higher imaging resolution and coverage. Large membrane diffraction space telescopes are particularly attractive due to their lightweight nature, ease of folding and unfolding, and high-precision imaging capabilities. However, their substantial size and flexibility make them susceptible to long-duration, low-frequency vibrations during attitude maneuvers, which degrade attitude and imaging accuracy and risk instrument damage. Consequently, an urgent need exists for a high-precision integrated control scheme. In this paper, the integrated control of vibration and attitude in a large space telescope is studied using cable actuators and control moment gyroscopes (CMGs). Since cables can only withstand limited tension, the unilateral and constrained characteristics of the control input are taken into account during the control design process. Firstly, a rigid-flexible coupling dynamic model of the space telescope is established using the velocity variation principle with hybrid coordinates. Additionally, a two-body astrodynamic model is developed to assess the impact of gravity gradient torque. Next, combining the computational torque method and H∞ control theory, an integrated control scheme is proposed, which achieves vibration and attitude control during maneuvers. Then, this paper optimizes the cable actuator positions via the discrete particle swarm optimization (PSO) algorithm and plans various attitude maneuver paths. Finally, numerical simulations are adopted to demonstrate the effectiveness of the control scheme. The results show that this integrated control scheme swiftly suppresses structural vibrations during attitude maneuvers, enabling high-precision attitude control of the space telescope.

Prescribed modal vibration control and disturbance load analysis of rigid-flexible satellites

We investigate the vibration control issues of rigid-flexible satellites and present a novel control methodology for vibration suppression during attitude maneuvers. Within the vibration model, we derive the terms of the disturbance load on each vibration mode, meticulously analyzing their effects. To reduce the impact of the disturbance load on vibration modes, the prescribed modal vibration control is proposed for vibration suppression, encompassing model adjustment, optimization of actuator/sensor deployment, and controller design. The effectiveness and the advantage of the prescribed modal vibration control are demonstrated through numerical simulations. This methodology achieves proper controlled vibration modes selection and optimized deployment, thereby amplifying the effect of vibration suppression in the presence of disturbances relative to extant vibration control methodologies.

Multi-Adaptive Strategies-Based Higher-Order Quantum Genetic Algorithm for Agile Remote Sensing Satellite Scheduling Problem.

The agile remote sensing satellite scheduling problem (ARSSSP) for large-scale tasks needs to simultaneously address the difficulties of complex constraints and a huge solution space. Taking inspiration from the quantum genetic algorithm (QGA), a multi-adaptive strategies-based higher-order quantum genetic algorithm (MAS-HOQGA) is proposed for solving the agile remote sensing satellites scheduling problem in this paper. In order to adapt to the requirements of engineering applications, this study combines the total task number and the total task priority as the optimization goal of the scheduling scheme. Firstly, we comprehensively considered the time-dependent characteristics of agile remote sensing satellites, attitude maneuverability, energy balance, and data storage constraints and established a satellite scheduling model that integrates multiple constraints. Then, quantum register operators, adaptive evolution operations, and adaptive mutation transfer operations were introduced to ensure global optimization while reducing time consumption. Finally, this paper demonstrated, through computational experiments, that the MAS-HOQGA exhibits high computational efficiency and excellent global optimization ability in the scheduling process of agile remote sensing satellites for large-scale tasks, while effectively avoiding the problem that the traditional QGA has, namely low solution efficiency and the tendency to easily fall into local optima. This method can be considered for application to the engineering practice of agile remote sensing satellite scheduling for large-scale tasks.

Parallel dual adaptive genetic algorithm: A method for satellite constellation task assignment in time-sensitive target tracking

The evolution of satellite surveillance technology, bolstered by advanced onboard intelligent systems and enhanced attitude maneuver capabilities, has thrust mission scheduling and execution into the spotlight as a prominent and dynamic research field in recent years. As the demand intensifies for mission scheduling and execution to transition from static ground targets to time-sensitive moving targets, conventional scheduling methods often fall short of delivering satisfactory results for continuously tracking these dynamic targets with constellation. The paper introduces a rapid yet efficacious satellite constellation task assignment method, termed the Parallel Dual Adaptive Genetic Algorithm (PDA-GA), for the task assignment of multiple moving target tracking. Specifically, the dual adaptive mechanism isolates the genetic algorithm’s sensitivity to parameters, while the parallel mechanism increases the evolutionary process’s computation speed by deploying complex computations to the GPU. Based on the meticulous analysis of the relevant factors that need to be considered in real tracking scenarios, the proposed PDA-GA can improve the search quality and efficiency of the task assignment solution. We conduct an extensive array of contrast and ablation experiments to showcase the performance and efficiency of PDA-GA in conjunction with autonomous attitude control algorithms across five simulated tracking scenarios. Furthermore, to enable high-fidelity simulation of tracking scenarios, we introduce the Constellation Target Tracking Environment (CTTE), which is equipped with a physics engine and algorithms for multi-satellite task assignment and single-satellite attitude control. This endeavor lays a foundation for future research endeavors focused on autonomous tracking of multiple time-sensitive moving targets within large-scale constellation.

Event-triggered adaptive deep neural network sliding mode control design for unmanned aerial vehicle systems

This paper proposes an event-triggered adaptive attitude maneuver control strategy based on deep neural network (DNN) for quadcopters to improve the attitude tracking performance and attenuate the effects of nonlinear and uncertainty. First, we establish an affine function model constructed to describe the dynamic model of quadcopters. The DNN trained over a large time scale is used to approximate the nonlinearity and uncertainty. Then, an adaptive sliding mode control (SMC) is combined with the DNN to achieve accurate tracking of attitude trajectory. Furthermore, to reduce unnecessary data transmissions, an event-trigger mechanism is combined with the designed DNN-driven adaptive SMC. The Lyapunov-based stability analysis is used to prove the stability of the closed loop system. The simulation results show the good performance of the proposed control strategy.

Super-agile satellites imaging mission planning method considering degradation of image MTF in dynamic imaging

Super-agile satellites with dynamic imaging capabilities can significantly improve the imaging efficiency of space-borne Earth observation. However, the image modulation transfer function (image MTF) of dynamic imaging varies dramatically with changes in the attitude maneuver status while improving observation efficiency. Therefore, both the observation efficiency and image MTF should be considered in the imaging mission planning of super-agile satellites. Existing imaging mission planning methods are mainly aimed at traditional agile satellites that are not capable of dynamic imaging, and the mainly optimization objectives are coverage revenue, spatial resolution, and task performance time, without considering the observation efficiency and image MTF as the optimization objectives. To overcome the problem of image MTF degradation caused by dynamic imaging, a mission planning method which considers the degradation of the image MTF and observation efficiency was proposed. Firstly, a mapping relationship between the angular velocity of the attitude maneuvering and the image MTF was constructed. On this basis, a Pareto multi-objective imaging mission planning model of partial order based was established. Considering the particularity of the model, the non-dominated sorting strategy of the NSGA-II algorithm was redesigned when solving the model using NSGA-II algorithm. Finally, the imaging tasks of different scales in single satellite and multi-satellite simulation scenes were set, and the proposed imaging mission planning method was verified. The planning results showed that the proposed method can achieve a balanced optimization of the image MTF and task efficiency under the premise of ensuing maximum observation coverage revenue.

Anti‐unwinding attitude maneuver control with predefined time for rigid spacecraft with input saturation

AbstractIn this article, anti‐unwinding sliding mode attitude maneuver control with predefined time is investigated for rigid spacecraft with input saturation. First, a nonsingular sliding function containing two equilibrium points is designed to ensure the predefined‐time convergence of system states and unwinding‐free performance of the closed‐loop system on the sliding phase. Then, an auxiliary system with a dynamic parameter is presented to compensate the impact of input saturation. With this parameter, the auxiliary system can handle input saturation that occurs. Based on the sliding function and the auxiliary system, an attitude maneuver controller is developed to guarantee the robustness of the closed‐loop system to bounded external disturbance. Under the designed controller, the states of the closed‐loop system are driven into a neighborhood of the sliding surface within a predefined time. Moreover, the unwinding phenomenon is also avoided on the reaching phase. Numerical simulation results illustrate the unwinding‐free performance and predefined‐time convergence of the closed‐loop system under the proposed control strategy.

Observer-based Attitude Maneuver Control of Flexible Spacecraft: A Parametric Approach

Observer-based Attitude Maneuver Control of Flexible Spacecraft: A Parametric Approach

Coupled vibration analysis of the spacecraft with the flexible shaft and solar panels assembly

Dynamical characteristics of the spacecraft with flexible components are investigated in this paper. The component consists of a flexible shaft and solar panels, where solar panels are completely fixed on the shaft. A novel power series multiplier polynomial method is proposed to describe the connecting condition between the shaft and solar panels. The deformation and force matching conditions between the one dimensional shaft and two dimensional panels are established, which is the major contribution about the multidimensional combined structure of this study. According to constraining boundary conditions of the shaft and solar panels, the bending-torsion coupled deformation of the component is expressed. The attitude maneuvering of the central platform and the elastic vibration of the component cause the rigid-flexible coupled effect. Then the discrete dynamical equation of the spacecraft is obtained by using the rigid-flexible coupled modal shapes. The correctness of the proposed method is verified by comparing the natural characteristics with that of the finite element model. The relative error of the higher order frequency is not more than 4%. Numerical results show that the degree of the bending angle polynomial should be at least quadratic to ensure the accuracy of the calculation. The proposed power series multiplier polynomial breaks through the barriers that the traditional Lagrange multiplier cannot express the continuous constraint. It is an effective method to fit the constrained boundary by the polynomial rather than by the discrete multipoint method.

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.

Model Predictive Control with Gaussian-Process-Enhanced Dynamics for Spacecraft Attitude Takeover Maneuvers

This paper aims to deal with the attitude takeover control for combined spacecraft with unknown dynamics and attitude maneuverability of the target. Generally, the dynamics of combined spacecraft executing an on-orbit servicing task is highly nonlinear and costly to identify. To address this issue, a sparse variational Gaussian process (GP)-based model predictive control (MPC) strategy is proposed to achieve efficient attitude takeover maneuvers under multiple constraints and target attitude maneuverability. The GP regression performs a model completion behavior, where the unknown dynamics is compensated by the sparse variational GP with a low computational load. This enhances the control performance of the combined spacecraft during the takeover task execution. Numerical simulations are used to demonstrate the effectiveness of the proposed strategy.

Adaptive fault-tolerant control for attitude maneuvering under attitude constraints and finite sequential actuator faults

The problem of retargeting rigid body attitude with attitude constraints has been extensively investigated, whereas the challenge persists in maneuvering rigid-body attitude with multiple concurrent attitude constraints and finite sequential actuator faults. Finite sequential actuator faults, which can reduce controllability or destabilize the system, necessitate the implementation of fault-tolerant control strategies. Therefore, this paper aims to address the issue of redirecting spacecraft attitude subject to multiple attitude constraints and finite sequential actuator faults comprehensively. Firstly, we represent spacecraft attitude using unit quaternions and employ an artificial potential function to effectively handle multi-attitude constraints. The negative gradient direction guides the rigid-body spacecraft towards seamless convergence with the desired attitude. Our proposed unwinding strategy effectively avoids unwinding phenomena during large-angle spacecraft reorientation as well. Additionally, we design an adaptive compensation strategy for finite sequential actuator faults that enables real-time calculation of the fault compensation matrix under such actuator faults. Importantly, we propose an improved adaptive fault-tolerant back-stepping controller integrated with a potential function that effectively addresses both attitude constraints and finite sequential actuator faults simultaneously. Subsequently, stability analysis is conducted on the proposed controller to ensure its stability in practical applications rigorously. Finally, numerical simulations are performed meticulously to demonstrate the effectiveness and robustness of our proposed controller.

Research on rapid batch test technology of small satellite attitude and orbit control system

The attitude and orbit control sub-system of small satellites is an important sub-system to ensure the stable operation of satellites in orbit, and its testing in the satellite factory development stage runs through the whole testing process. Most of the traditional attitude and orbit control sub-system tests require the cooperation of many people to complete the performance tests of various components and sensitive devices, which also leads to the complicated and time-consuming testing process of the sub-system. At present, the mass production of small satellites is developing rapidly. In order to meet the urgent needs of small satellite mass production, the traditional attitude control subsystem test equipment and methods can’t meet the requirements of satellite mass production mode. In order to meet the needs of small satellite mass development, this paper studies the rapid batch test technology of small satellite attitude and orbit control systems. A fast pipeline test system which can support the performance and dynamics simulation of various components of a multi-satellite attitude and orbit control subsystem is studied. Based on the architecture of real-time communication between the upper computer and lower computer, the system can realize the integration and rapid testing of component performance and dynamic simulation. A continuous dynamic simulation test of 2140 seconds was carried out for the cruise mode and attitude maneuver mode of a certain type of satellite in orbit. During the test, various components and sensors of the attitude and orbit control subsystem operate correctly and can support the stable operation of the required attitude in various modes of the satellite, which can verify the correctness of the interface and performance of the satellite attitude and orbit control subsystem. The research results greatly reduce the input of manpower and material resources, and greatly improve the test efficiency. It lays a foundation for the rapid batch test of the small satellite attitude control subsystem.

Anti-unwinding adaptive robust backstepping attitude maneuver control for rigid spacecraft

In this paper, an anti-unwinding adaptive robust backstepping control law is proposed to solve the attitude control problem of rigid spacecraft with external disturbances and inertia uncertainties. A new variable based on hyperbolic sine functions is designed to prevent the unwinding phenomenon, and then a novel robust backstepping controller is developed. Initially, a nonlinear tracking law is designed to obtain the desired angular velocity and to ensure that the attitude maneuvering system could have two equilibrium points. Subsequently, an adaptive robust control law is devised, which incorporates the adaptive estimation method to update the inertial parameters in real-time. Moreover, the bounded external disturbances are taken into account in the design of the control law, and thus the robustness of the attitude control system is improved. Furthermore, the global asymptotic stability of the attitude control system is verified by the Lyapunov-Krasovskii theorem. Finally, numerical simulations are carried out to demonstrate the effectiveness and robustness of the proposed control law, as well as the anti-unwinding characteristics are perfectly validated during the attitude maneuver of rigid spacecraft.

Berthing proximity maneuvers and trajectory planning of a space manipulator via Kane’s formulation

On-orbit servicing is one of the most challenging tasks of the recent space era. Space Manipulator Systems (SMS) can represent viable technological solutions for several space operations, such as in-situ refueling, repairing of operating spacecraft, or debris grappling. Regardless of the specific task, SMS must approach the target object and then establish a physical connection with it using a single or more robotic arms. This work considers a space vehicle equipped with a pair of two-link robotic arms, with the intent of efficiently designing and simulating the overall spacecraft dynamics until contact takes place. The links that compose each arm are modeled as rigid bodies, assuming relatively slow dynamics. Instead, flexibility is introduced in the model of the rotary joints. The overall dynamics is investigated using Kane’s methodology, which is general, highly systematic, and joins the advantages of both the Newton/Euler and the Lagrange formulation. Both SMS and the target, assumed as noncooperative, are placed in low Earth orbit, in close proximity. Trajectory planning of the robotic arm is investigated, while considering the effect of the arm motion on the overall attitude dynamics. Precise attitude maneuvering is mandatory in order that grappling be successfully completed. To do this, a quaternion-based, globally stable attitude feedback law is designed, implemented, and tested. Actuation is demanded to an arrangement of control momentum gyroscopes. These devices are modeled with the inclusion of gyroscopic coupling effects, and are driven by means of suitable steering laws, for the purpose of pursuing the desired attitude control action. Accurate modeling of SMS, with also the inclusion of disturbances due to joint flexibility, in conjunction with the use of suitable feedback attitude control and steering laws for both the robotic arms and the actuation devices, allows obtaining the desired variables, i.e. (i) the motor torques (for steering both the joints and the attitude devices) and (ii) the constraint actions (forces and torques). A Monte Carlo analysis points out effectiveness of the control architecture proposed in this study in the challenging mission scenario of interest.

Attitude maneuver planning and robust tracking control for flexible satellite

Abstract In this paper, we investigate the attitude manoeuver planning and tracking control of the flexible satellite equipped with a coilable mast. Due to its flexible beamlike structure, the coilable mast experiences bending and torsional modal vibrations in multi-direction. The complex nonlinear coupling and other external disturbances significantly impact the achievement of high-precision attitude control. To overcome these challenges, a robust attitude tracking controller is proposed for easy implementation by the Attitude Determination and Control System (ADCS). The controller consists of a disturbance compensator, feedforward controller and output feedback controller. The compensator, based on a Nonlinear Disturbance Observer (NDO), effectively compensates for the cluster disturbances caused by vibrations, environmental factors and parameter perturbations. The feedforward controller tracks the desired path in the nominal satellite model. Furthermore, the output feedback controller enables large-angle manoeuver control of the satellite and evaluates the suppression effect of the controlled output on the observation error of cluster disturbances used the ${L_2}$ -gain. Simulation results demonstrate that the proposed controller successfully achieves high-precision attitude tracking control during large-angle manoeuvering.

Finite-Time Attitude Maneuver Control for Liquid-Filled Spacecraft with Attitude and Angular Velocity Constraints Based on Barrier Lyapunov Function

Finite-Time Attitude Maneuver Control for Liquid-Filled Spacecraft with Attitude and Angular Velocity Constraints Based on Barrier Lyapunov Function