International Journal of Automation, Control and Intelligent Systems
Articles Information
International Journal of Automation, Control and Intelligent Systems, Vol.2, No.1, Jan. 2016, Pub. Date: Feb. 29, 2016
Experiments in Control of Rotational Mechanics
Pages: 9-22 Views: 2320 Downloads: 1457
Authors
[01] Timothy Sands, Mechanical Engineering, Stanford University, Stanford, USA.
[02] Jae Jun Kim, Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, USA.
[03] Brij N. Agrawal, Mechanical and Aerospace Engineering, Naval Postgraduate School, Monterey, USA.
Abstract
This paper evaluates controlling rotational mechanics by examining the contributions of individual components of one common adaptive control algorithm used for spacecraft attitude control. Feedforward and feedback controls are briefly introduced for context, then parameter adaptation and reference trajectories are applied individually to feedforward and feedback controls. The effects of noise are also examined. The various control schemes are simulated to heuristically display the impacts of reference trajectories versus desired trajectories, adaptation versus non-adaptive, and also the effects of adaptation and control gains in addition to sensor noise. The simulations are validated by experimental results on a free-floating three-axis spacecraft simulator actuated by non-redundant single-gimbal control moment gyroscopes.
Keywords
Rotational Mechanics, Newton-Euler, Euler’s Moment Equations, Automatic Control, Adaptive Systems, Reference Trajectory
References
[01] Sands, T., "Physics-Based Automated Control of Spacecraft", AIAA Space 2009, AIAA #167790, 2009.
[02] Kim, J., Sands, T., Agrawal, B., "Acquisition, Tracking, and Pointing Technology Development for Bifocal Relay Mirror Spacecraft" SPIE Proceedings Vol. 6569, 656907, 2007.
[03] Ahmed, J. “Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Identification”, AIAA Journal of Guidance, Dynamics and Control, Sep-Oct 1998.
[04] Cristi, R., “Adaptive Quaternion Feedback Regulation for Eigenaxis Rotation”, AIAA Journal of Guidance, Dynamics and Control, Nov-Dec 1994.
[05] Niemeyer, G. and Slotine, J. J. E, “Performance in adaptive manipulator control”, Proceedings of 27th IEEE Conference on Decision and Control, Decemebr, 1988.
[06] Slotine, J. J. E. and Benedetto, M. D. Di, “Hamiltonian Adaptive Control of Spacecraft”, IEEE Transactions on Automatic Control, Vol. 35, pp. 848-852, July 1990.
[07] Sands, T. "Fine Pointing of Military Spacecraft," PhD dissertation, Naval Postgraduate School, 2007.
[08] Fossen, T. Comments on “Hamiltonian Adaptive Control of Spacecraft”, IEEE Transactions on Automatic Control, Vol. 38., No. 4, April 1993.
[09] Sanya, A. “Globally Convergent Adaptive Tracking of Spacecraft Angular Velocity with Inertia Identification”, Proceedings of IEEE Conference of Decision and Control, 2003.
[10] Nakatani, S., Sands, T., “Simulation of Spacecraft Damage Tolerance and Adaptive Controls”, IEEE Aerospace Proceedings, 2014.
[11] Nakatani, S., Sands, T., “Autonomous Damage Recovery in Space”, International Journal of Automation, Control and Intelligent Systems, Accepted for publishing, Feb., 2016.
[12] Sands, T., Kim, J., Agrawal, B. "Method and Apparatus for Singularity Avoidance for Control Moment Gyroscope (CMG) Systems Without Using Null Motion", Patent Pending (61/840,010), June 27, 2013.
600 ATLANTIC AVE, BOSTON,
MA 02210, USA
+001-6179630233
AIS is an academia-oriented and non-commercial institute aiming at providing users with a way to quickly and easily get the academic and scientific information.
Copyright © 2014 - American Institute of Science except certain content provided by third parties.