Advanced Attitude Control of Satellite: A Modeling Error Compensation Approach

Preface
Acknowledgements
Contents
List of Figures
Part I Foundation
1 Overview
	1.1 Introduction
	1.2 Attitude Dynamics Modeling Error
		1.2.1 External Disturbance Torques
		1.2.2 Unmodeling Inertia
		1.2.3 Flexible Vibration
		1.2.4 Actuator Fault
		1.2.5 Actuator Misalignment
	1.3 External Disturbance Attenuation Control
		1.3.1 Robust Attenuation Control
		1.3.2 Observer-Based Attenuation Control
	1.4 Satellite Actuator Fault Tolerant Control
	1.5 Satellite Actuator Misalignment Control
	1.6 Uncertain Inertia Control of Satellite
	1.7 Nonlinear Control with Actuator Constraint
		1.7.1 Methods for General Nonlinear Systems
		1.7.2 Attitude Control with Actuator Constraint
	1.8 Angular Velocity-Free Attitude Control
		1.8.1 Observer-Based Velocity-Free Control
		1.8.2 Filter-Based Velocity-Free Control
	1.9 Flexible Satellite Attitude Control
	1.10 Fast Attitude Control
	1.11 Motivation for This Book
	1.12 Organization of the Book
	1.13 Summary
	References
2 Preliminaries
	2.1 Introduction
	2.2 Notation
	2.3 Mathematical Definition
	2.4 Preliminary Lemmas
	2.5 Definition of Reference Frames
		2.5.1 Earth-Centered Inertial Frame
		2.5.2 Orbit Frame
		2.5.3 Body Frame
	2.6 Attitude Representation
		2.6.1 Euler Angles
		2.6.2 Unit Quaternion
		2.6.3 Modified Rodrigues Parameters
	2.7 Modeling of Satellite Attitude Control System
		2.7.1 Attitude Kinematics
		2.7.2 Attitude Dynamics
	2.8 Attitude Control Testbed for Satellite
		2.8.1 Three-Axis Non-Air-Bearing Simulator
		2.8.2 Single-Axis Air-Bearing Testbed
		2.8.3 Three-Axis Air-Bearing Testbed
	2.9 Summary
	References
Part II Modeling Error Robust Compensation Attitude Control
3 Observer-Free Output Feedback Attitude Control
	3.1 Introduction
	3.2 Transformed Open-Loop Attitude System
	3.3 Problem Statement
	3.4 Angular Velocity-Free Robust Controller
	3.5 Stability Proof
		3.5.1 Candidate Lyapunov Function
		3.5.2 Stability Analysis
		3.5.3 Discussions
	3.6 Simulation Results
		3.6.1 Results of Case #1
		3.6.2 Results of Case #2
		3.6.3 Quantitative Analysis
	3.7 Experimental Tests
		3.7.1 Experimental Test #1
		3.7.2 Experimental Test #2
		3.7.3 Quantitative Analysis
	3.8 Summary
	References
4 Velocity-Free Attitude Control  with Actuator Constraint
	4.1 Introduction
	4.2 Attitude Uniformly Ultimately Bounded Control
		4.2.1 Flexible Satellite Attitude Tracking System
		4.2.2 Problem Formulation
		4.2.3 Transformed Attitude Tracking System
		4.2.4 Command Filter
		4.2.5 Velocity-Free Neural Network Controller
		4.2.6 Numerical Example
	4.3 script upper L 2mathcalL2-gain Disturbance Attenuation Attitude Control
		4.3.1 Problem Statement
		4.3.2 Velocity-Free Filter
		4.3.3 script upper L 2mathcalL2-gain Disturbance Attenuation Controller
		4.3.4 Control Input Upper Bound Analysis
		4.3.5 Numerical Study
	4.4 Summary
	References
5 Velocity-Free Attitude Fault-Tolerant Control
	5.1 Introduction
	5.2 Reaction Wheel Faults
	5.3 Angular Velocity Measurement Uncertainty
	5.4 Problem Formulation
	5.5 Transformed System with Reaction Wheel Fault
	5.6 Terminal Sliding-Mode Observer
	5.7 Velocity-Free Fault-Tolerant Attitude Controller
	5.8 Numerical Example
		5.8.1 Reaction Wheel Fault Scenarios
		5.8.2 Simulation Results
		5.8.3 Quantitative Analysis
	5.9 Summary
	References
Part III Modeling Error Adaptive Compensation Attitude Control
6 Adaptive Attitude Stabilization Control
	6.1 Introduction
	6.2 Euler-Lagrange System
	6.3 General Model of Actuator Faults
	6.4 Problem Statement
	6.5 Observer-Based State Estimation
		6.5.1 Adaptive State Observer
		6.5.2 Effect of System Uncertainties
	6.6 Adaptive State Observer-Based Controller
	6.7 Application to Microsatellite Attitude Control
		6.7.1 Simulation Results
		6.7.2 Experimental Results
	6.8 Summary
	References
7 Fixed-Time Optimal Attitude Control
	7.1 Introduction
	7.2 Problem Statement
	7.3 Fixed-Time Optimal Stabilization Control
	7.4 Fixed-Time Optimal Fault-Tolerant Control
	7.5 Numerical Example
		7.5.1 Simulation Result of Case i
		7.5.2 Simulation Result of Case ii
	7.6 Summary
	References
8 Faster Fixed-Time Attitude Stabilization Control
	8.1 Introduction
	8.2 Problem Statement
	8.3 A New Fixed-Time Stable System
	8.4 Fixed-Time Faster Sliding Mode Surface
	8.5 Faster Fixed-Time Attitude Controller
	8.6 Simulation Results
	8.7 Summary
	References
Part IV Observer-Based Modeling Error Compensation Attitude Control
9 Extended-State Observer-Based Attitude Control
	9.1 Introduction
	9.2 Mathematical Model
	9.3 Problem Statement
	9.4 Extended-State Observer for Modeling Error
	9.5 Observer-Based Attitude Controller
	9.6 Simulation Results
	9.7 Experimental Study
	9.8 Summary
	References
10 Disturbance Observer-Based Attitude Control
	10.1 Introduction
	10.2 Attitude Exponential Stabilization Control
		10.2.1 Problem Statement
		10.2.2 Disturbance Observer
		10.2.3 Estimator for Satellite\'s Modeling Error
		10.2.4 Observer-Based Exponential Controller
		10.2.5 Rigid Microsatellite Example
	10.3 Attitude Exponential Tracking Control
		10.3.1 Modeling of Actuator Uncertainties
		10.3.2 Problem Description
		10.3.3 System Transformation
		10.3.4 Disturbance Observer for Uncertainties
		10.3.5 Observer-Based Resilient Controller
		10.3.6 Stability Analysis
		10.3.7 Simulation Example
	10.4 Summary
	References
11 Unknow Input Observer-Based Attitude Control
	11.1 Introduction
	11.2 UIO-Based Attitude Stabilization Control
		11.2.1 General Model of Actuator Uncertainty
		11.2.2 Problem Formulation
		11.2.3 Main Result
		11.2.4 Simulation Results
	11.3 UIO-Based Attitude Tracking Control
		11.3.1 System Description
		11.3.2 Problem Statement
		11.3.3 UIO-Based Exponential Tracking Controller
		11.3.4 Rigid-Flexible Coupling Satellite Example
	11.4 Summary
	References
12 Conclusion
	12.1 Conclusion
	12.2 Future Work