Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion

Lichao Sun, Yanpei Huang, Haolin Fei, Bo Xiao, Eric M. Yeatman, Allahyar Montazeri*, Ziwei Wang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.

Original languageEnglish
Article number1138115
JournalFrontiers in Robotics and AI
Volume10
DOIs
Publication statusPublished - 2023
Externally publishedYes

Keywords

  • control torque allocation
  • dual quaternion
  • fixed-time stability
  • optimization
  • spacecraft control

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