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Radice, G.; Ali, I. (2008)
Languages: English
Types: Other
Subjects: TK
The potential function method has been used extensively in nonlinear control for the development of feedback laws which result in global asymptotic stability for a certain prescribed operating point of the closed-loop system. It is a variation of the Lyapunov direct method in the sense that here the Lyapunov function, also called potential function, is constructed in such a way that the undesired points of the system state space are avoided. The method has been considered for the space applications where the systems involved are usually composed of the cascaded subsystems of kinematics and dynamics and the kinematic states are mapped onto an appropriate potential function which is augmented for the overall system by the use of the method of integrator backstepping. The conventional backstepping controls, however, may result in an excessive control effort that may be beyond the saturation bound of the actuators. The present paper, while remaining within the framework of conventional backstepping control design, proposes analytical formulation for the control torque bound being a function of the tracking error and the control gains. The said formulation can be used to tune to the control gains to bound the control torque to a prescribed saturation bound of the control actuators.
  • The results below are discovered through our pilot algorithms. Let us know how we are doing!

    • 1. Khalil, H. K., Nonlinear Systems, 3rd ed., Prentice Hall, Upper Saddle River, NJ., 2002, Chap. 14.
    • 2. Krstic, M., and Tsiotras, P., “Inverse Optimal Stabilization of a Rigid Spacecraft,” IEEE Transactions on Automatic Control, Vol. 44, No. 5, 1999, pp. 1042-1050.
    • 3. Kim, K.-S., and Kim, Y., “Robust Backstepping Control for Slew Maneuver Using Nonlinear Tracking Function,” IEEE Transactions on Control Systems Technology, Vol. 11, No. 6, 2003, pp. 822- 829.
    • 4. Ali, I., Radice, G. M., and Kim, J., “Analytical Control Torque Bound for Backstepping Control of Spacecraft Attitude Maneuver,” Preparing to submit to Journal of Guidance, Control and Dynamics.
    • 5. Mazenc, F., and Iggidr, A., “Backstepping with Bounded Feedbacks,” Systems and Control Letters, Vol. 51, 2004, pp. 235-245.
    • 6. McInnes, C. R., “Large Angle Slew Maneuvers with Autonomous Sun Vector Avoidance,” Journal of Guidance, Control, and Dynamics, Vol. 17, No. 4, 1994, pp. 875-877.
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