Recently, a fully controllable quaternion spacecraft model was proposed. Based on this controllable quaternion model, an analytic linear-quadratic regulator (LQR) design for a spacecraft control system was obtained. Although the LQR design is based on the linearized quaternion model, it was shown that the design of the LQR control system globally stabilizes the original nonlinear spacecraft system. Because in spacecraft design practice engineers normally use models with simplified system dynamics and cost function (which has diagonal structure and excludes external torques) to make the design complexity manageable, this paper will show that the LQR control design is a robust pole assignment design; therefore, the controller is insensitive to the modeling error and external disturbances of nonlinear spacecraft systems. All these properties make this design very attractive. First, the designed controller locally achieves the desired performance because LQR design is optimal for the linearized system and the pole positions determine the critical design parameters such as rising time, settling time, and overshoot percentage. Second, the design is robust to the modeling error because it is a robust pole assignment. Third, the designed state feedback matrix has an analytical form that is represented as a function of the desired closed-loop pole positions or the cost matrices Q and R . This allows convenient tuning of the state feedback matrix to get the desired pole positions and/or balance cost of performance requirements defined by Q and cost of fuel consumption defined by R during the design process. Last, the design globally stabilizes the original nonlinear spacecraft. An example is used to describe the design process, and simulations are provided to demonstrate the desired properties and effectiveness of the design method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Quaternion-Based LQR Spacecraft Control Design Is a Robust Pole Assignment Design


    Contributors:

    Published in:

    Publication date :

    2012-03-28


    Size :

    92014-01-01 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Robust attitude stabilization of spacecraft using nonlinear quaternion feedback

    Joshi, S.M. / Kelkar, A.G. / Wen, J.T.Y. | Tema Archive | 1995


    On the Pole Assignment by the Design Method of Robust Stability Degree Assignment

    Saeki, M. / Aoishi, K. | British Library Online Contents | 1996


    Quaternion feedback control for rigid-body spacecraft

    Jensen, Hans-Christian / Wisniewski, Rafal | AIAA | 2001