• Home
  • Browse
    • Current Issue
    • By Issue
    • By Author
    • By Subject
    • Author Index
    • Keyword Index
  • Journal Info
    • About Journal
    • Aims and Scope
    • Editorial Board
    • Advisory Board
    • Editorial Staff
    • Publication Ethics
    • Indexing and Abstracting
    • Related Links
    • FAQ
    • Peer Review Process
    • News
  • Guide for Authors
  • Submit Manuscript
  • Reviewers
  • Contact Us
 
  • Login
  • Register
Home Articles List Article Information
  • Save Records
  • |
  • Printable Version
  • |
  • Recommend
  • |
  • How to cite Export to
    RIS EndNote BibTeX APA MLA Harvard Vancouver
  • |
  • Share Share
    CiteULike Mendeley Facebook Google LinkedIn Twitter
AUT Journal of Modeling and Simulation
Articles in Press
Current Issue
Journal Archive
Volume Volume 51 (2019)
Volume Volume 50 (2018)
Issue Issue 2
Issue Issue 1
Volume Volume 49 (2017)
Volume Volume 48 (2016)
Volume Volume 47 (2015)
Volume Volume 46 (2014)
Volume Volume 45 (2013)
Volume Volume 44 (2012)
Volume Volume 43 (2011)
Volume Volume 42 (2010)
Volume Volume 41 (2009)
Safi, M., Mortazavi, M., Dibaji, S. (2018). Global Stabilization of Attitude Dynamics: SDRE-based Control Designs. AUT Journal of Modeling and Simulation, 50(2), 203-210. doi: 10.22060/miscj.2018.13961.5087
M. Safi; M. Mortazavi; S.M. Dibaji. "Global Stabilization of Attitude Dynamics: SDRE-based Control Designs". AUT Journal of Modeling and Simulation, 50, 2, 2018, 203-210. doi: 10.22060/miscj.2018.13961.5087
Safi, M., Mortazavi, M., Dibaji, S. (2018). 'Global Stabilization of Attitude Dynamics: SDRE-based Control Designs', AUT Journal of Modeling and Simulation, 50(2), pp. 203-210. doi: 10.22060/miscj.2018.13961.5087
Safi, M., Mortazavi, M., Dibaji, S. Global Stabilization of Attitude Dynamics: SDRE-based Control Designs. AUT Journal of Modeling and Simulation, 2018; 50(2): 203-210. doi: 10.22060/miscj.2018.13961.5087

Global Stabilization of Attitude Dynamics: SDRE-based Control Designs

Article 22, Volume 50, Issue 2, Summer and Autumn 2018, Page 203-210  XML PDF (591.36 K)
Document Type: Review Article
DOI: 10.22060/miscj.2018.13961.5087
Authors
M. Safi1; M. Mortazavi email orcid 2; S.M. Dibaji3
1Hardware In the Loop Laboratory, Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran
2Centre of Excellence in Computational Aerospace, Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, Iran
33 Active-Adaptive Control Lab, Massachusetts Institute of Technology, Cambridge, MA, USA
Abstract
The State-Dependant Riccati Equation method has been frequently used to design suboptimal controllers applied to nonlinear dynamic systems. Different methods for local stability analysis of SDRE controlled systems of order higher than two such as the attitude dynamics of a general rigid body have been developed in the literature; however, it is still difficult to show global stability properties of closed-loop system with this controller. In this paper, a reduced-form of SDRE formulation for attitude dynamics of a general rigid body is achieved by using Input-State Linearization technique and solved analytically. By using the solution matrix of the reduced-form SDRE in properly defined Lyapunov functions, a class of nonlinear controllers with global stability properties is developed. Numerical simulations are performed to study the stability properties and optimality for attitude stabilization of a general rigid body, and it is concluded that the designed controllers have the capability to provide a balance between optimality and proper stability characteristics.
Keywords
SDRE; Lyapunov; Exponential Stability; Global Stability; Attitude Dynamics
Main Subjects
Applications of Control-Aerospace (Navigation/Conductance); Applications of Control-Robotics (Manipulator); Classical Nonlinear System Control; Optimal Control
References

[1] J.R. Cloutier, State-dependent Riccati equation techniques: an overview, in: Proceedings of American Control Conference, 1997, pp. 932-936.

[2] H. Voos, Nonlinear state-dependent Riccati equation control of a quadrotor UAV, in: IEEE International Conference on Control Applications, 2006, pp. 2547-2552.

[3] P. Shankar, R. Yedavalli, D. Doman, Dynamic inversion via state dependent Riccati equation approach: Application to flight vehicles, in: AIAA Guidance, Navigation, and Control Conference and Exhibit, 2003, pp. 5361.

[4] M. Abdelrahman, I. Chang, S.-Y. Park, Magnetic torque attitude control of a satellite using the state-dependent Riccati equation technique, International Journal of Non-Linear Mechanics, 46(5) (2011) 758-771.

[5] A. Bogdanov, M. Carlsson, G. Harvey, J. Hunt, D. Kieburtz, R. van der Merwe, E. Wan, State-dependent Riccati equation control of a small unmanned helicopter, in: AIAA Guidance, Navigation, and Control Conference and Exhibit, 2003, pp. 5672.

[6] E.B. Erdem, A.G. Alleyne, Design of a class of nonlinear controllers via state dependent Riccati equations, IEEE Transactions on Control Systems Technology, 12(1) (2004) 133-137.

[7] P. Seiler, Stability region estimates for SDRE controlled systems using sum of squares optimization, in: Proceedings of American Control Conference, 2003, pp. 1867-1872.

[8] P. Gasbarri, R. Monti, M. Sabatini, Very large space structures: Non-linear control and robustness to structural uncertainties, Acta Astronautica, 93 (2014) 252-265.

[9] D.T. Stansbery, J.R. Cloutier, Position and attitude control of a spacecraft using the state-dependent Riccati equation technique, in: Proceedings of American Control Conference, 2000, pp. 1867-1871.

[10] N.A. Chaturvedi, A.K. Sanyal, N.H. McClamroch, Rigid-Body Attitude Control, IEEE Control Systems, 31(3) (2011) 30-51.

[11] J. Stuelpnagel, On the parametrization of the three-dimensional rotation group, SIAM review, 6(4) (1964) 422-430.

[12] T. Çimen, State-Dependent Riccati Equation (SDRE) Control: A Survey, in: Proceedings of the 17th IFAC World Congress, 2008, pp. 3761-3775.

[13] C. Mark, H. Jonathan, Actuator Constrained Trajectory Generation and Control for Variable-Pitch Quadrotors, in: AIAA Guidance, Navigation, and Control Conference, 2012.

[14] C.G. Mayhew, R.G. Sanfelice, A.R. Teel, On path-lifting mechanisms and unwinding in quaternion-based attitude control, IEEE Transactions of Automatic Control, 58(5 ) (2013) 1179–1191.

[15] J.-J.E. Slotine, L. Weiping, Applied Nonlinear Control Prentice Hall, 1991.

[16] B. Wie, Space Vehicle Dynamics and Control in, AIAA, Reston, Virginia, 1998.

Statistics
Article View: 529
PDF Download: 313
Home | Glossary | News | Aims and Scope | Sitemap
Top Top

AUT Journal of Modeling and Simulation is licensed under a
"Creative Commons Attribution-NonCommercial 2.0 Generic (CC BY-NC 2.0)"

 

Amirkabir University of Technology (Tehran Polytechnic)

Journal Management System. Designed by sinaweb.