STANDARD AND ROBUST BACKSTEPPING CONTROL OF A SPACECRAFT WITH INERTIAL UNCERTAINTY

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NAVABI MOHAMMAD; SOLEYMANPOUR SINA

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Journal: Modares Mechanical Engineering Year:2015 | Volume:14 | Issue:16 Page(s): 112-124

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Title

STANDARD AND ROBUST BACKSTEPPING CONTROL OF A SPACECRAFT WITH INERTIAL UNCERTAINTY

Author(s)

NAVABI MOHAMMAD | SOLEYMANPOUR SINA | Issue Writer Certificate

Keywords

NONLINEAR CONTROLQ2

STANDARD BACKSTEPPINGQ2

ROBUST BACKSTEPPINGQ2

SPACECRAFTQ2

MODIFIED RODRIGUES PARAMETERSQ2

Abstract

Since the kinematics and dynamics equations of SPACECRAFT are nonlinear equations, NONLINEAR CONTROL methods should be used for more practical control. The backstepping is a Lyapunov based systematic method for designing stable controls for nonlinear dynamic systems. Since in practice there are uncertainties and disturbances in systems, the designed controller should have robustness against these disturbances and uncertainties. So in such cases, a modified backstepping method named ROBUST BACKSTEPPING is used, in which a nonlinear damping term is added to have robustness against disturbances and parametric uncertainties. In this paper, after deriving SPACECRAFT equations in terms of MODIFIED RODRIGUES PARAMETERS, we design a stable attitude controller for SPACECRAFT using STANDARD BACKSTEPPING method and proof the stability using Lyapunov theory. Then, to create system robustness against uncertainty in SPACECRAFT inertial matrix, a nonlinear damping term is added to STANDARD BACKSTEPPING method and the ROBUST BACKSTEPPING method is implemented on SPACECRAFT equations. Simulation results show attitude tracking accuracy and success of ROBUST BACKSTEPPING method in having robustness against parametric uncertainties.

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APA: Copy

NAVABI, MOHAMMAD, & SOLEYMANPOUR, SINA. (2015). STANDARD AND ROBUST BACKSTEPPING CONTROL OF A SPACECRAFT WITH INERTIAL UNCERTAINTY. MODARES MECHANICAL ENGINEERING, 14(16), 112-124. SID. https://sid.ir/paper/177868/en

Vancouver: Copy

NAVABI MOHAMMAD, SOLEYMANPOUR SINA. STANDARD AND ROBUST BACKSTEPPING CONTROL OF A SPACECRAFT WITH INERTIAL UNCERTAINTY. MODARES MECHANICAL ENGINEERING[Internet]. 2015;14(16):112-124. Available from: https://sid.ir/paper/177868/en

IEEE: Copy

MOHAMMAD NAVABI, and SINA SOLEYMANPOUR, “STANDARD AND ROBUST BACKSTEPPING CONTROL OF A SPACECRAFT WITH INERTIAL UNCERTAINTY,” MODARES MECHANICAL ENGINEERING, vol. 14, no. 16, pp. 112–124, 2015, [Online]. Available: https://sid.ir/paper/177868/en

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