Mechanical-Attitude Controller Co-design of Large Flexible Space Structures

  • Hari Hara Sudhan Murali
  • Daniel Alazard
  • Luca Massotti
  • Finn Ankersen
  • Chiara Toglia


This paper provides an overview on the application and advantages of novel sub-structuring techniques in defining the multi-flexible body dynamics of an open mechanical chain. It employs single and double input-output port models that represent the six Degree Of Freedom (DOF) dynamics of terminal and intermediate appendages in the chain, with one and two connection points respectively. The interface that links the Finite Element Model (FEM) modal analysis output of the sub-structure to its parametric model in SIMULINK has also been explained. Also an analytical double port model of the six DOF dynamics of a uniform beam element with two connection points, called super-element, has been derived.

Different combinations of the sub-structure configurations are validated through the dynamics simulation of the Biomass satellite, selected as the 7-th Earth Explorer Core Mission of the European Space Agency. A robust reduced order H ∞  attitude controller that will meet the satellite performance requirement in terms of perturbation rejection, has been designed. Furthermore, the Linear Fractional Transformation (LFT) form of an uncertain parametric model is subjected to a non-smooth optimization that simultaneously tunes the attitude controller and the geometric parameters of an antenna section, so as to meet pointing requirements and save mass.


Connection Point Linear Fractional Transfor Attitude Controller Interaction Torque Uniform Beam 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Alazard, D., Cumer, Ch., Tantawi, K.: Linear dynamic modeling of spacecraft with various flexible appendages and on-board angular momentums. In: 7th International ESA Conference on Guidance, Navigation & Control Systems, Tralee, Ireland (2008)Google Scholar
  2. 2.
    Alazard, D., Alvaro Perez, J., Loquen, T., Cumer, C.: Two-input two-output port model for mechanical systems, Submitted to SciTech, Gaylord Palms and Convention Center, Kissimmee, FL (2015)Google Scholar
  3. 3.
    Guy, N., Alazard, D.: Dynamic modeling and analysis of spacecraft with variable tilt of flexible appendages. ASME - Journal of Dynamic Systems Measurement and Control 136(2) (January 2014)Google Scholar
  4. 4.
    Toglia, C., Pavia, P., Campolo, G., Alazard, D., Loquen, T., de Plinval, H., Cumer, C., Casasco, M., Massotti, L.: Optimal Co-Design for Earth Observation Satellites with Flexible Appendages. In: AIAA Guidance Navigation and Control Conference, Boston (MS) (August 2013)Google Scholar
  5. 5.
    Loquen, T., de Plinval, H.: Attitude control of satellites with flexible appendages: a structured H  ∞  control design. In: AIAA Guidance Navigation and Control Conference, Minneapolis, MN (August 2012)Google Scholar
  6. 6.
    Alazard, D., Loquen, T., de Plinval, H., Cumer, C.: Avionics/Control co-design for large flexible space structures. In: AIAA Guidance, Navigation and Control Conference, Boston (MS) (August 2013)Google Scholar
  7. 7.
    Girard, A., Roy, N.: Structure Dynamics in Industry, pp. 249-291. Wiley (2008)Google Scholar
  8. 8.
    Chrétien, J.P., Alazard, D.: Modélisation des chaînes polyarticulées flexible en vue de la commande: comparaison de trois techniques de mise en équations, Rapport final n. 2/7735.a, 2/7735.b, 2/7735.c - DERA (1991)Google Scholar
  9. 9.
    Alazard, D., Cumer, C.: Satellite Dynamic Toolbox: Principe, User Guide nd Tutorials (2014),
  10. 10.
    Apkarian, P.: Tuning controllers against multiple design requirements. In: American Control Conference (ACC), Washington D.C., pp. 3888–3893 (2013)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Hari Hara Sudhan Murali
    • 1
  • Daniel Alazard
    • 1
  • Luca Massotti
    • 2
  • Finn Ankersen
    • 2
  • Chiara Toglia
    • 3
  1. 1.ISAEToulouse CEDEX 4France
  2. 2.European Space Agency -ESTECNoordwijkThe Netherlands
  3. 3.Thales Alenia SpaceRomaItaly

Personalised recommendations