Experimentally evaluating the attitude control of a spacecraft prior to actual spacecraft mission implementation is usually not practical/possible. This paper investigates the use of a quadrotor to test spacecraft attitude control techniques and qualitatively compare various control methods (e.g. PID, LQR, Sliding Mode Control). The authors first compare and contrast the analytical dynamic model of a rigid body spacecraft and its actuation (e.g. via momentum wheels along each roll, pitch and yaw axis) with that of a typical quadrotor and its actuation (via 4 planar motors/propellers producing thrust vectors orthogonal to the motor/propeller plane). The authors present the analytical results of the implemented controllers on the spacecraft model and compare the corresponding performance of each controller. For each controller used, an equivalent controller (i.e. implementing the same moment actuation) is to be applied to a quadrotor.
展开▼
