Sun, Lichao and Huang, Yanpei and Fei, Haolin and Xiao, Bo and Yeatman, Eric and Montazeri, Allahyar and Wang, Ziwei (2023) Fixed-time regulation of spacecraft orbit and attitude coordination with optimal actuation allocation using dual quaternion. Frontiers in Robotics and AI, 10: 1138115. ISSN 2296-9144
Full text not available from this repository.Abstract
On-orbit service spacecraft with redundant actuators need to overcome orbital and attitude coupling when performing proximity maneuvers. In addition, transient/steady-state performance is required to fulfill the user-defined requirements. To these ends, this paper introduces a fixed-time tracking regulation and actuation allocation scheme for redundantly actuated spacecraft. The coupling effect of translational and rotational motions is described by dual quaternion. Based on this, we propose a non-singular fast terminal sliding mode controller to guarantee fixed-time tracking performance in the presence of external disturbances and system uncertainties, where the settling time is only dependent on user-defined control parameters rather than initial values. The unwinding problem caused by the redundancy of dual quaternion is handled by a novel attitude error function. Moreover, optimal quadratic programming is incorporated into null space pseudo-inverse control allocation that ensures the actuation smoothness and never violates the maximum output capability of each actuator. Numerical simulations on a spacecraft platform with symmetric thruster configuration demonstrate the validity of the proposed approach.