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Nonlinear Attitude Control of Spacecraft with a Large Captured Object

Bandyopadhyay, Saptarshi and Chung, Soon-Jo and Hadaegh, Fred Y. (2016) Nonlinear Attitude Control of Spacecraft with a Large Captured Object. Journal of Guidance, Control, and Dynamics, 39 (4). pp. 754-769. ISSN 0731-5090. http://resolver.caltech.edu/CaltechAUTHORS:20161108-150956974

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Abstract

This paper presents an attitude control strategy and a new nonlinear tracking controller for a spacecraft carrying a large object, such as an asteroid or a boulder. If the captured object is larger or comparable in size to the spacecraft and has significant modeling uncertainties, conventional nonlinear control laws that use exact feedforward cancellation are not suitable because they exhibit a large resultant disturbance torque. The proposed nonlinear tracking control law guarantees global exponential convergence of tracking errors with finite-gain L_p stability in the presence of modeling uncertainties and disturbances, and it reduces the resultant disturbance torque. Furthermore, this control law permits the use of any attitude representation, and its integral control formulation eliminates any constant disturbance. Under small uncertainties, the best strategy for stabilizing the combined system is to track a fuel-optimal reference trajectory using this nonlinear control law because it consumes the least amount of fuel. In the presence of large uncertainties, the most effective strategy is to track the derivative plus proportional–derivative-based reference trajectory because it reduces the resultant disturbance torque. The effectiveness of the proposed attitude control methods is demonstrated by using results of numerical simulation based on an Asteroid Redirect Mission concept.


Item Type:Article
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http://dx.doi.org/10.2514/1.G001341DOIArticle
http://arc.aiaa.org/doi/10.2514/1.G001341PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2015 by the American Institute of Aeronautics and Astronautics Inc. Received 12 April 2015; revision received 13 August 2015; accepted for publication 5November 2015; published online 21 January 2016. The authors thank A. Miguel San Martin, Gurkipal Singh, Giri Subramanian, and Rebecca Foust for their valuable inputs. This research was supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with NASA.
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NASA/JPL/CaltechUNSPECIFIED
Record Number:CaltechAUTHORS:20161108-150956974
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161108-150956974
Official Citation: Saptarshi Bandyopadhyay, Soon-Jo Chung, and Fred Y. Hadaegh. "Nonlinear Attitude Control of Spacecraft with a Large Captured Object", Journal of Guidance, Control, and Dynamics, Vol. 39, No. 4 (2016), pp. 754-769. http://dx.doi.org/10.2514/1.G001341
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:71828
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:09 Nov 2016 00:11
Last Modified:04 Jan 2017 19:41

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