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Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer

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Abstract

This paper deals with the problem of position and attitude tracking control for a rigid spacecraft. A fully actuated system (FAS) model for the six degree-of-freedom (6DOF) spacecraft motion is derived first from the state-space model by variable elimination. Considering the uncertainties from external disturbance, unknown motion information, and uncertain inertia properties, an extended state observer (ESO) is designed to estimate the total disturbance. Then, a tracking controller based on FAS approach is designed, and this makes the closed-loop system a constant linear one with an arbitrarily assignable eigenstructure. The solution to the parameter matrices of the observer and controller is given subsequently. It is proved via the Lyapunov stability theory that the observer errors and tracking errors both converge into the neighborhood of the origin. Finally, numerical simulation demonstrates the effectiveness of the proposed controller.

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Author information

Authors and Affiliations

  1. Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, 518055, China

    Qin Zhao & Guang-Ren Duan

  2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin, 150001, China

    Guang-Ren Duan

Authors
  1. Qin Zhao
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  2. Guang-Ren Duan
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Corresponding authors

Correspondence to Qin Zhao or Guang-Ren Duan.

Additional information

This research was partially supported by the Science Center Program of the National Natural Science Foundation of China under Grant No. 62188101, and the Major Program of the National Natural Science Foundation of China under Grant Nos. 61690210 and 61690212, the National Natural Science Foundation of China under Grant Nos. 62103164 and 61703437.

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Zhao, Q., Duan, GR. Fully Actuated System Approach for 6DOF Spacecraft Control Based on Extended State Observer. J Syst Sci Complex 35, 604–622 (2022). https://doi.org/10.1007/s11424-022-1498-5

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  • DOI: https://doi.org/10.1007/s11424-022-1498-5

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