Adaptive Satellite Attitude Control in the Presence of Inertia and CMG Gimbal Friction Uncertainties

被引：33
|
作者：
MacKunis, W. [1 ]
Dupree, K. [1 ]
Fitz-Coy, N. [1 ]
Dixon, W. E. [1 ]
机构：
[1] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA
来源：
JOURNAL OF THE ASTRONAUTICAL SCIENCES | 2008年 / 56卷 / 01期
关键词：
Discontinuous Nonlinearity; Asymptotic Tracking; Model Reference Adaptive Controller; Satellite Inertia; Spacecraft Rendezvous;
D O I：
10.1007/BF03256544
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
A nonlinear adaptive attitude controller is designed in this paper that compensates for dynamic uncertainties in the spacecraft inertia matrix and unknown dynamic and static friction effects in the control moment gyroscope (CMG) gimbals. Attitude control torques are generated by means of a four single gimbal CMG pyramid cluster. The challenges to develop the adaptive controller are that the control input is multiplied by uncertainties due to dynamic friction effects and is embedded in a discontinuous nonlinearity due to static friction effects. A uniformly ultimately bounded result is proven via Lyapunov analysis for the case in which both static and dynamic gimbal friction is included in the dynamic model, and an extension is provided that illustrates how asymptotic tracking is achieved when only dynamic friction is present in the CMG model.
引用
收藏
页码：121 / 134
页数：14
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