Nonlinear Control of Engineering Systems pp 223-268 | Cite as

# Aerospace Systems

## Abstract

In many aerospace applications, large amplitude maneuvers are performed that require a high degree of accuracy. Aerospace applications also typically require a system to track a time-varying reference trajectory rather than a simple setpoint regulation. These objectives motivate the need to incorporate the nonlinear dynamic effects of the system in the control system synthesis. However, the problem is further complicated because the mass and inertia are not exactly known due to fuel consumption, payload variation, appendage deployment, etc. Many existing control strategies for aerospace systems use singular (i.e., the Jacobian matrix in the kinematic equation is singular for some orientations) three-parameter attitude representations such as Euler angles, which are only locally valid. As described in Chapter 2, the unit quaternion is a four-parameter representation that can be used to globally represent the attitude of an object without singularities. However, an additional constraint equation is introduced. Along this line of reasoning, a full-state feedback quaternion-based attitude tracking controller is first developed for the nonlinear dynamics of a rigid spacecraft with parametric uncertainty in the inertia matrix. Motivated by the desire to eliminate additional sensor payload, a second controller is developed under the additional constraint that angular velocity measurements are not available.

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