DocumentCode :
2471733
Title :
Quaternion-Based Backstepping Control of Relative Attitude in a Spacecraft Formation
Author :
Kristiansen, Raymond ; Nicklasson, Per Johan ; Gravdahl, Jan Tommy
Author_Institution :
Dept. of Space Technol., Narvik Univ. Coll.
fYear :
2006
fDate :
13-15 Dec. 2006
Firstpage :
5724
Lastpage :
5729
Abstract :
In this paper we present a solution to the problem of controlling relative attitude in a leader-follower spacecraft formation, with focus on the rotation path for the follower spacecraft. Mathematical models of relative attitude kinematics and dynamics are presented, and a nonlinear control law designed by use of integrator backstepping is used to control the relative attitude in the formation. The resulting control law is proved to result in asymptotically stable equilibrium points in the closed loop system, and by a convenient choice of backstepping variables, it is ensured that a proper rotation path is used. Simulation results for a leader-follower spacecraft formation are presented to illustrate the performance of the presented control law
Keywords :
aircraft control; asymptotic stability; attitude control; closed loop systems; control system synthesis; nonlinear control systems; vehicle dynamics; asymptotically stable equilibrium; closed loop system; integrator backstepping; leader-follower spacecraft formation,; mathematical model; nonlinear control law design; quaternion-based backstepping control; relative attitude dynamics; relative attitude kinematics; spacecraft formation; Attitude control; Backstepping; Closed loop systems; Energy consumption; Open loop systems; Satellites; Space technology; Space vehicles; State feedback; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
Type :
conf
DOI :
10.1109/CDC.2006.377296
Filename :
4177428
Link To Document :
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