Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization
In this paper, we propose an attitude control law for underactuated two-wheel spacecraft under non-zero total angular momentum. Attitude control with non-zero total angular momentum is complicated in the case that the number of reaction wheels equipped on a spacecraft is two. For a spacecraft in thi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Taylor & Francis Group
2017-07-01
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| Series: | SICE Journal of Control, Measurement, and System Integration |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.9746/jcmsi.10.310 |
| _version_ | 1797661048683102208 |
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| author | Tomohiro Fukaishi Kazuma Sekiguchi Kenichiro Nonaka |
| author_facet | Tomohiro Fukaishi Kazuma Sekiguchi Kenichiro Nonaka |
| author_sort | Tomohiro Fukaishi |
| collection | DOAJ |
| description | In this paper, we propose an attitude control law for underactuated two-wheel spacecraft under non-zero total angular momentum. Attitude control with non-zero total angular momentum is complicated in the case that the number of reaction wheels equipped on a spacecraft is two. For a spacecraft in this situation, an attitude control law has been proposed based on a kinematics model by Katsuyama et al. [Y. Katsuyama, SICE Annual Conference, pp. 3421-3426, 2013]. However, a dynamics controller is more desirable for a practical system. Thus, in this paper, we expand the controller to a dynamics model. Nevertheless, in the case of dynamics model, the expansion is not straightforward because of the singularity of input transformation. Therefore, we propose to apply the hierarchical linearization technique which separates a system into several subsystems and linearizes the subsystems step by step. Using this method, the input transformation becomes well-defined, and the system is linearized partially. Additionally, the dimension of linearizable state increases compared with the ordinary input-output linearization. Numerical simulation is conducted to show the validity of the proposed controller. |
| first_indexed | 2024-03-11T18:38:38Z |
| format | Article |
| id | doaj.art-47334aebc5094b0892cb345b0d707468 |
| institution | Directory Open Access Journal |
| issn | 1884-9970 |
| language | English |
| last_indexed | 2024-03-11T18:38:38Z |
| publishDate | 2017-07-01 |
| publisher | Taylor & Francis Group |
| record_format | Article |
| series | SICE Journal of Control, Measurement, and System Integration |
| spelling | doaj.art-47334aebc5094b0892cb345b0d7074682023-10-12T13:43:54ZengTaylor & Francis GroupSICE Journal of Control, Measurement, and System Integration1884-99702017-07-0110431031610.9746/jcmsi.10.31012103145Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical LinearizationTomohiro Fukaishi0Kazuma Sekiguchi1Kenichiro Nonaka2Panasonic Factory Solutions Co., Ltd.Department of Mechanical Systems Engineering, Tokyo City UniversityDepartment of Mechanical Systems Engineering, Tokyo City UniversityIn this paper, we propose an attitude control law for underactuated two-wheel spacecraft under non-zero total angular momentum. Attitude control with non-zero total angular momentum is complicated in the case that the number of reaction wheels equipped on a spacecraft is two. For a spacecraft in this situation, an attitude control law has been proposed based on a kinematics model by Katsuyama et al. [Y. Katsuyama, SICE Annual Conference, pp. 3421-3426, 2013]. However, a dynamics controller is more desirable for a practical system. Thus, in this paper, we expand the controller to a dynamics model. Nevertheless, in the case of dynamics model, the expansion is not straightforward because of the singularity of input transformation. Therefore, we propose to apply the hierarchical linearization technique which separates a system into several subsystems and linearizes the subsystems step by step. Using this method, the input transformation becomes well-defined, and the system is linearized partially. Additionally, the dimension of linearizable state increases compared with the ordinary input-output linearization. Numerical simulation is conducted to show the validity of the proposed controller.http://dx.doi.org/10.9746/jcmsi.10.310attitude controlunderactuated spacecraftnon-holonomic systeminput-output linearization |
| spellingShingle | Tomohiro Fukaishi Kazuma Sekiguchi Kenichiro Nonaka Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization SICE Journal of Control, Measurement, and System Integration attitude control underactuated spacecraft non-holonomic system input-output linearization |
| title | Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization |
| title_full | Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization |
| title_fullStr | Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization |
| title_full_unstemmed | Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization |
| title_short | Attitude Control of Two-Wheel Spacecraft Based on Dynamics Model via Hierarchical Linearization |
| title_sort | attitude control of two wheel spacecraft based on dynamics model via hierarchical linearization |
| topic | attitude control underactuated spacecraft non-holonomic system input-output linearization |
| url | http://dx.doi.org/10.9746/jcmsi.10.310 |
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