Open AccessDirection‐cosine‐matrix‐based attitude control subject to actuator saturation
Author(s) -
Forbes James Richard
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0890
Subject(s) - control theory (sociology) , attitude control , angular velocity , controller (irrigation) , actuator , control system , quaternion , mathematics , engineering , computer science , control engineering , control (management) , physics , geometry , artificial intelligence , agronomy , electrical engineering , quantum mechanics , biology
Set‐point attitude control of a rigid body explicitly preventing actuator saturation is considered. The attitude control approach developed does not employ any sort of direction‐cosine‐matrix (DCM) parameterisation, such as Euler angles or quaternions. Rather, the DCM is used directly within the feedback control algorithm. Together a proportional control term and an angular velocity control term make up the attitude controller. The angular velocity control is composed of a strictly positive real system subject to a special input non‐linearity. The specific form of the proportional control and angular velocity control ensure control torques are below the saturation level of the on‐board actuators. Two controller synthesis methods are considered. The first uses the linearised system, the solution to the linear quadratic regulator problem, and the Kalman–Yakubovich–Popov lemma to design the controller. The second employs a simple low‐pass filter that is guaranteed to stabilise the closed‐loop system; tuning the low‐pass filter is also considered. Numerical simulation results demonstrate effective closed‐loop control in the presence of plant disturbances and sensor noise.