Spacecraft attitude control: Application of fine trajectory linearization control

摘要

One of the simplest and most popular methods to design a model-based controller for a nonlinear dynamic system is to apply linear control theories to the linearized model of the nonlinear system. For linearization, first-order Taylor series expansion is a straightforward and widely used method. Although the related linearization method is fairly simple, unfortunately, it causes an error in the linearized model, especially in highly nonlinear systems. Different strategies have been proposed to increase the robustness of linearization-based control methods against the linearization error. All of the methods somehow look at the linearization error as uncertainty or disturbance, which has to be rejected. Generally speaking, the lack of the linearization technique reduces the quality of control. One area in which quality and simplicity of control can be necessary is spacecraft attitude control. For the purpose of spacecraft attitude control, this paper improves a well-known trajectory linearization control (TLC) method as a simple and practical nonlinear trajectory tracking control method using an error-less, fine linearization technique. The modified TLC is then used to develop a control law for spacecraft attitude control with only three tunable control parameters and an approximation of the spacecraft inertia matrix. Finally, due to the elimination of uncertainty caused by the linearization error, in a simple way, the novel attitude controller leads to better performance in comparison with the traditional method. The superiority of the new approach is illustrated in numerical simulations.