یک روش نظام مند بازتعریف خروجی جهت کنترل وضعیت غیرخطی یک ماهواره انعطاف‌پذیر

نوع مقاله : علمی-پژوهشی

نویسندگان

1 استادیار، گروه مهندسی برق کنترل، دانشکده مهندسی برق، دانشگاه علم و صنعت ایران، تهران، ایران

2 دانشجوی دکتری، گروه مهندسی برق کنترل، دانشکده مهندسی برق، دانشگاه علم و صنعت ایران، تهران، ایران

چکیده

در این مقاله یک روش بازتعریف خروجی جدید به منظور کنترل وضعیت یک ماهواره انعطاف‌پذیر ارائه شده است. مانورهای وضعیت نوسانات ناخواسته‌ای در مکانیزم‌های انعطاف‌پذیر ایجاد می‌کنند که کارایی کنترل وضعیت ماهواره را تحت تأثیر قرار می‌دهد. الزامات نشانه‌روی و پایدارسازی وضعیت ماهواره در مأموریت‌های فضایی پیشرفته امروزی، اهمیت حذف مؤثر این نوسانات را نشان می‌دهد. اگر نقطه انتهایی مکانیزم‌ انعطاف‌پذیر به عنوان خروجی مدل سیستم انتخاب شود، مدل سیستم ناکمینه فاز می‌شود. بازتعریف خروجی یکی از روش‌های مؤثر به منظور کمینه‌ فاز کردن مدل سیستم است. در این مقاله برای اولین بار با نگاهی عمیق‌تر به این روش با یک روش بازتعریف خروجی نظام‌مند، علاوه بر کمینه فاز کردن مدل سیستم، کارایی سیستم حلقه بسته کنترل وضعیت بهبود داده می‌شود. سپس یک کنترل‌کننده وضعیت H∞ غیرخطی برای مدل بازتعریف شده طراحی می‌شود. برای حالتی که متغیرهای مودال قابل اندازه‌گیری نیستند، یک مشاهده‌گر مودال طراحی می‌شود. نتایج شبیه‌سازی، کارایی روش بازتعریف خروجی ارائه شده در کنترل وضعیت یک ماهواره انعطاف‌پذیر در حضور عدم قطعیت در مدل و اغتشاشات نامعلوم را نشان می‌دهد.

کلیدواژه‌ها


عنوان مقاله [English]

A Systematic Output Redefinition for Nonlinear Attitude Control of a Flexible Spacecraft

نویسندگان [English]

  • S. M. Smaeilzadeh 1
  • M. S. Zeyghami 2
1 Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran
2 Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran
چکیده [English]

In this paper, a novel output redefinition is presented for attitude control of a flexible spacecraft. Attitude maneuvers induce undesirable vibration in the flexible appendages which degrades attitude control system performance. The attitude pointing and stabilization requirements of today advance space missions show the undesirable vibration suppression importance. If the flexible appendage tip-point is selected as the system output, the system model is nonminimum phase. The output redefinition method is an effective method to make the model minimum phase. By a deeper insight about the output redefinition method, a novel systematic method is presented such that the attitude control system performance is modified. Then, a nonlinear H∞ attitude control method is desined based on the redefined model system. For the situation that modal variable are not measurable, a modal observer is presented. The simulation results verify the presented method effectiveness in a flexible spacecraft attitude control problem in presence of mode uncertainties and unknown disturbance.

کلیدواژه‌ها [English]

  • Output redefinitoin
  • Attitude control
  • H∞
  • nonlinear
  • flexible
  • spacecraft
[1] Yin, B. Xiao, S. X. Ding, and et al, “A review on recent development of spacecraft attitude fault tolerant control system,” IEEE Trans. Ind. Electron., vol. 63, no. 5, pp. 3311-3320, 2016.
[2] Eshghi and R.Varatharajoo, ``Nonsingular terminal sliding mode control technique for attitude tracking problem of a small satellite with combined energy and attitude control system (CEACS),’’ Aerosp. Sci. Technol., vol. 76, pp. 14-26, May 2018
[3] Hu, Q. and Xiao, B., Intelligent proportional-derivative control for flexible spacecraft attitude stabi-lization with unknown input saturation. Aerospace Science and Technology, 23(1), pp.63-74,
[4] Bai, H., Huang, C. and Zeng, J. Robust nonlinear H∞ output-feedback control for flexible spacecraft attitude manoeuvring. Transactions of the Institute of Measurement and Control, 41(7), pp.2026-2038,
[5] Liu, C., Shi, K., & Sun, Z. Robust H controller design for attitude stabilization of flexible space-craft with input constraints. Advances in Space Research, 63(5), 1498-1522,
[6] Wang and D. Li, ``Experiments study on attitude coupling control method for exible spacecraft,'' Acta Astronautica, vol. 147, pp. 393-402, Jun. 2018.
[7] Vadali, S. R.. Variable-structure control of spacecraft large-angle maneuvers. Journal of Guidance, Control, and Dynamics, 9(2), 235-239,
[8] Zhu, Z., Xia, Y., & Fu, M. Attitude stabilization of rigid spacecraft with finite‐time conver-gence. International Journal of Robust and Nonlinear Control, 21(6), 686-702,
[9] Dong, Y., You, L., Bing, X. and Wene, L. Robust finite-time adaptive control algorithm for satellite fast attitude maneuver. Journal of the Franklin Institute, 357(16), pp.11558-11583, 2020.
[10] Zou, A. M., Kumar, K. D., Hou, Z. G., & Liu, X.. Finite-time attitude tracking control for spacecraft using terminal sliding mode and Chebyshev neural network. IEEE Transactions on Systems, Man, and Cy-bernetics, Part B (Cybernetics), 41(4), 950-963,
[11] Lei, R.H. and Chen, L.. Finite-time tracking control and vibration suppression based on the concept of virtual control force for flexible two-link space robot. Defence Technology, 17(3), pp.874-883,
[12] Shtessel, Y., Edwards, C., Fridman, L. and Levant, A.. Sliding mode control and observation (Vol. 10). New York, NY: Springer New York, 2014.
[13] Jin, E., & Sun, Z.. Robust controllers design with finite-time convergence for rigid spacecraft atti-tude tracking control. Aerospace Science and Technology, 12(4), 324-33, 2008.
[14] Su, Y., Zheng, C. and Mercorelli, P.. Robust approximate fixed-time tracking control for uncertain robot manipulators. Mechanical Systems and Signal Processing, 135, p.106379, 2020.
[15] Shi, Z., Deng, C., Zhang, S., Xie, Y., Cui, H. and Hao, Y.. Hyperbolic tangent function-based finite-time sliding mode control for spacecraft rendezvous maneuver without chattering. IEEE Access, 8, pp.60838-60849, 2020.
[16] Pukdeboon, C., Zinober, A.S. and Thein, M.W.L.. Quasi-continuous higher order sliding-mode controllers for spacecraft-attitude-tracking maneuvers. IEEE Transactions on Industrial Electronics, 57(4), pp.1436-1444, 2009.
[17] Tiwari, P.M., Janardhanan, S. and un Nabi, M.. Attitude control using higher order sliding mode. Aerospace Science and Technology, 54, pp.108-113, 2016.
[18] Chen, H., Song, S. and Li, X.. Robust spacecraft attitude tracking control with integral terminal slid-ing mode surface considering input saturation. Transactions of the Institute of Measurement and Con-trol, 41(2), pp.405-416,
[19] Guo, Y., Huang, B., Song, S.M., Li, A.J. and Wang, C.Q.. Robust saturated finite-time attitude control for spacecraft using integral sliding mode. Journal of Guidance, Control, and Dynamics, 42(2), pp.440-446, 2019.
[20] Banerjee, A., Amrr, S.M. and Nabi, M.. A pseudospectral method based robust-optimal attitude con-trol strategy for spacecraft. Advances in Space Research, 64(9), pp.1688-1700,
[21] Zhang, X., Zong, Q., Dou, L., Tian, B. and Liu, W.. Finite-time attitude maneuvering and vibration suppression of flexible spacecraft. Journal of the Franklin Institute, 357(16), pp.11604-11628,
[22] Gong, W., Li, B., Yang, Y., Ban, H. and Xiao, B.. Fixed-time integral-type sliding mode control for the quadrotor UAV attitude stabilization under actuator failures. Aerospace Science and Technology, 95, p.105444,
[23] Cao, L., Xiao, B. and Golestani, M.. Robust fixed-time attitude stabilization control of flexible spacecraft with actuator uncertainty. Nonlinear Dynamics, 100(3), pp.2505-2519,
[24] Cao, L., Xiao, B., Golestani, M. and Ran, D.. Faster fixed-time control of flexible spacecraft attitude stabilization. IEEE Transactions on Industrial Informatics, 16(2), pp.1281-1290,
[25] Esmaeilzadeh, S.M., Golestani, M. and Mobayen, S.. Chattering-free fault-tolerant attitude control with fast fixed-time convergence for flexible spacecraft. International Journal of Control, Automation and Systems, 19(2), pp.767-776,
[26] Golestani, M., Esmaeilzadeh, S.M. and Mobayen, S.. Fixed-time control for high-precision attitude stabilization of flexible spacecraft. European Journal of Control, 57, pp.222-231,
[27] سیدمجید اسماعیل‌زاده، مهدی گلستانی، «طراحی کنترل زمان‌ثابت تطبیقی برای کلاسی از سیستم‌های غیرخطی مرتبه دوم با استفاده از رویکرد کنترل مود لغزشی»، مجله مهندسی برق دانشگاه تبریز، جلد 50، شماره 3، صفحات 1025-1034، 1399.
[28] Garcia, G.A., Keshmiri, S. and Shukla, D.. Nonlinear control based on H-infinity theory for autonomous aerial vehicle. In 2017 International Conference on Unmanned Aircraft Systems (ICUAS) (pp. 336-345). IEEE, 2017, June.
[29] Souza, A.G. and Souza, L.C.G.. Design of a controller for a rigid-flexible satellite using the H-infinity method considering the parametric uncertainty. Mechanical Systems and Signal Processing, 116, pp.641-650,
[30] Fang, Y., An, C., Juan, W. and Fei, J.. Adaptive H-infinity tracking control for microgyro-scope. Advances in Mechanical Engineering, 12(6), p.1687814020927832,
[31] Rigatos, G. and Siano, P.. A new nonlinear H-infinity feedback control approach to the problem of autonomous robot navigation. Intelligent Industrial Systems, 1(3), pp.179-186,
[32] Rigatos, G., Siano, P., Abbaszadeh, M., Ademi, S. and Melkikh, A.. Nonlinear H-infinity control for underactuated systems: the Furuta pendulum example. International Journal of Dynamics and Con-trol, 6(2), pp.835-847,
[33] Wang, H., Li, Z., Xiong, H. and Nian, X.. Robust H∞ attitude tracking control of a quadrotor UAV on SO (3) via variation-based linearization and interval matrix approach. ISA transactions, 87, pp.10-16,
[34] Liu, H., Tian, X., Wang, G. and Zhang, T.. Finite-Time H-infinity Control for High-Precision Track-ing in Robotic Manipulators Using Backstepping Control. IEEE Transactions on Industrial Electron-ics, 63(9), pp.5501-5513,
[35] Malekzadeh, M., & Karimpour, H.. Adaptive super twisting vibration control of a flexible space-craft with state rate estimation. Journal of Sound and Vibration, 422, 300-317,
[36] Oubbati, B.K., Boutoubat, M., Rabhi, A. and Belkheiri, M.. Experiential integral backstepping sliding mode controller to achieve the maximum power point of a PV system. Control Engineering Practice, 102, p.104570,
[37] Malekzadeh, M., Naghash, A. and Talebi, H.A.. A robust nonlinear control approach for tip position tracking of flexible spacecraft. IEEE Transactions on Aerospace and Electronic Systems, 47(4), pp.2423-2434,
[38] Malekzadeh, M., Naghash, A. and Talebi, H.A.. Slewing and vibration control of a nonlinear flexible spacecraft. In Proceedings of the 2010 American Control Conference (pp. 2879-2884). IEEE, 2010, June.
[39] Malekzadeh, M., Naghash, A. and Talebi, H.A.. Control of flexible spacecraft using dynamic inver-sion and µ-synthesis. Journal of Vibration and Control, 17(13), pp.1938-1951,
[40] Kristiansen, R. and Nicklasson, P.J.. Satellite attitude control by quaternion-based backstep-ping. In Proceedings of the 2005, American Control Conference, 2005. (pp. 907-912). IEEE, 2005, June.
[41] Wu, A.G., Dong, R.Q., Zhang, Y. and He, L.. Adaptive sliding mode control laws for attitude stabili-zation of flexible spacecraft with inertia uncertainty. IEEE Access, 7, pp.7159-7175,
[42] Schaub, H., and Junkins, J. L., “Stereographic Orientation Parametersfor Attitude Dynamics: A Generaliza-tion of the Rodrigues Parameters,” Journal of the Astronautical Sciences, Vol. 44, No. 1, 1996, pp. 1–19.
[43] Chen, Q., Xie, S. and He, X.. Neural-network-based adaptive singularity-free fixed-time attitude tracking control for spacecrafts. IEEE Transactions on Cybernetics, 51(10), pp.5032-5045,
[44] Chen, Q., Xie, S., Sun, M. and He, X.. Adaptive nonsingular fixed-time attitude stabilization of un-certain spacecraft. IEEE Transactions on Aerospace and Electronic Systems, 54(6), pp.2937-2950,
[45] Sidi MJ. Spacecraft Dynamics and Control: A Practical Engineering Approach. Cambridge: Cam-bridge University Press,
[46] Hughes, P.C. and Skelton, R.E.. Controllability and observability for flexible spacecraft. Journal of guidance and control, 3(5), pp.452-459,
[47] Isidori, A., & Byrnes, C. I.. Output regulation of nonlinear systems. IEEE transactions on Automatic Control, 35(2), 131-140,
[48] P. LaSalle, The Stability of Dynamical Systems, ser. Regional Conference Series in Applied Mathemat-ics. Society for Industrial and Applied Mathematics, 1976, no. 25
[49] Gordon E. Carlson Signal and Linear Systems Analysis with Matlab second edition, Wiley, 1998, ISBN 0-471-12465-6
[50] Zhong, C., Guo, Y., Yu, Z., Wang, L. and Chen, Q.. Finite-time attitude control for flexible spacecraft with unknown bounded disturbance. Transactions of the Institute of Measurement and Control, 38(2), pp.240-249,
[51] Wie, Bong - Space Vehicle Dynamics and Control, American Institute of Aeronautics and Astro-nautics, 2008.
[52] Space engineering Control performance guidelines, ESA ECSS-E-HB60-10A, Dec. 14, 2010.
[53] Ren, Y., Chen, X., Cai, Y., Wang, W. and Liu, Q.. Adaptive robust sliding mode simultaneous control of spacecraft attitude and micro-vibration based on magnetically suspended control and sensitive gy-ro. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineer-ing, 234(15), pp.2197-2210, 2020.