Nonlinear optimal feedback control of the complete, three-axis, asymmetric spacecraft attitude dynamics and kinematics is presented. The kinematics description is via minimal modified Rodrigues parameters, which allow nonsingular formulation for eigenaxis rotations greater than 180 degrees. The optimality condition is obtained through Hamilton-Jacobi formulation for the minimization of a cost function in terms of rotational velocities, kinematic parameters, and control torques. A positive-definite Lyapunov function is derived analytically for asymptotic stability. Numerical simulation results for rigid spacecraft undergoing large rotational maneuvers with the present nonlinear controller are compared to a semi-optimal controller and a terminal-time weighted nonlinear optimal controller. With appropriate design parameters, the present nonlinear optimal controller is seen to be globally stabilizing for arbitrarily large initial conditions, whereas the semi-optimal controllers are rendered non-stabilizing. Although being based on an infinite-interval formulation, the present controller is seen to produce a comparable performance with that of the terminal-time weighted optimal controller. In terms of onboard computational resource requirements, the present controller lies between the semi-optimal and the terminal-time weighted optimal controllers.


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    Title :

    Optimal Nonlinear Spacecraft Attitude Control through Hamilton-Jacobi Formulation


    Additional title:

    J of Astronaut Sci


    Contributors:

    Published in:

    Publication date :

    2002-03-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English