This work introduces a real time suboptimal control algorithm for six-degree-of-freedom spacecraft maneuvering based on a State-Dependent-Algebraic-Riccati-Equation (SDARE) approach and real-time linearization of the equations of motion. The control strategy is sub-optimal since the gains of the linear quadratic regulator (LQR) are re-computed at each sample time. The cost function of the proposed controller has been compared with the one obtained via a general purpose optimal control software, showing, on average, an increase in control effort of approximately 15%, compensated by real-time implementability. Lastly, the paper presents experimental tests on a hardware-in-the-loop six-degree-of-freedom spacecraft simulator, designed for testing new guidance, navigation, and control algorithms for nano-satellites in a one-g laboratory environment. The tests show the real-time feasibility of the proposed approach. © 2016 The Authors.
Suboptimal LQR-based spacecraft full motion control: Theory and experimentation / Guarnaccia, Leone; Bevilacqua, Riccardo; Pastorelli, STEFANO PAOLO. - In: ACTA ASTRONAUTICA. - ISSN 0094-5765. - STAMPA. - 122:(2016), pp. 114-136. [10.1016/j.actaastro.2016.01.016]
Suboptimal LQR-based spacecraft full motion control: Theory and experimentation
PASTORELLI, STEFANO PAOLO
2016
Abstract
This work introduces a real time suboptimal control algorithm for six-degree-of-freedom spacecraft maneuvering based on a State-Dependent-Algebraic-Riccati-Equation (SDARE) approach and real-time linearization of the equations of motion. The control strategy is sub-optimal since the gains of the linear quadratic regulator (LQR) are re-computed at each sample time. The cost function of the proposed controller has been compared with the one obtained via a general purpose optimal control software, showing, on average, an increase in control effort of approximately 15%, compensated by real-time implementability. Lastly, the paper presents experimental tests on a hardware-in-the-loop six-degree-of-freedom spacecraft simulator, designed for testing new guidance, navigation, and control algorithms for nano-satellites in a one-g laboratory environment. The tests show the real-time feasibility of the proposed approach. © 2016 The Authors.File | Dimensione | Formato | |
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https://hdl.handle.net/11583/2656831
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