Skip to main content
SpringerLink
Log in

Sliding mode maneuvering control and active vibration damping of three-axis stabilized flexible spacecraft with actuator dynamics

  • Original Paper
  • Published:
Nonlinear Dynamics Aims and scope Submit manuscript

Abstract

This paper presents a dual-stage control system design method for the three-axis-rotational maneuver control and vibration stabilization of a spacecraft with flexible appendages embedded with piezoceramics as sensor and actuator. In this design approach, the attitude control system and vibration suppression were designed separately using a lower order model. Based on the sliding mode control (SMC) theory, a discontinuous attitude control law in the form of the input voltage of the reaction wheel is derived to control the orientation of the spacecraft actuated by the reaction wheel, in which the reaction wheel dynamics is also considered from the real applications point of view. The asymptotic stability is shown using Lyapunov analysis. Furthermore, an adaptive version of the proposed attitude control law is also designed for adapting the unknown upper bounds of the lumped disturbance so that the limitation of knowing the bound of the disturbance in advance is released. In addition, the concept of varying the width of boundary layer instead of a fixed one is also employed to eliminate the chattering and improve the pointing precision as well. For actively suppressing the induced vibration, modal velocity feedback and strain rate feedback control methods are presented and compared by using piezoelectric materials as additional sensors and actuators bonded on the surface of the flexible appendages. Numerical simulations are performed to show that rotational maneuver and vibration suppression are accomplished in spite of the presence of disturbance torque and parameter uncertainty.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Drakunov, S.V., Utkin, V.I.: Sliding mode control in dynamic systems. Int. J. Control 55, 1029–1037 (1992)

    Article  MATH  MathSciNet  Google Scholar 

  2. Hung, J., Gao, W.: Variable structure control: a survey. IEEE Trans. Ind. Electron. 40(1), 2–22 (1993)

    Article  Google Scholar 

  3. Vadali, S.R.: Variable structure control of spacecraft large attitude maneuvers. J. Guid. Control Dyn. 9(3), 235–239 (1986)

    MATH  Google Scholar 

  4. Dwyer, T.A.W., Sira-Ramirez, H.: Variable structure control of spacecraft attitude maneuver. J. Guid. Control Dyn. 11(3), 262–270 (1988)

    MATH  Google Scholar 

  5. Crassidis, J.L., Markley, F.L.: Sliding mode control using modified Rodrigues parameters. J. Guid. Control Dyn. 19(6), 1381–1383 (1996)

    MATH  Google Scholar 

  6. Lo, S.C., Chen, Y.P.: Smooth Sliding mode control for spacecraft attitude tracking maneuvers. J. Guid. Control Dyn. 18(6), 1345–1349 (1995)

    MATH  Google Scholar 

  7. Chen, Y.P., Lo, S.C.: Sliding mode controller design for spacecraft attitude tracking maneuvers. IEEE Trans. Aerosp. Electron. 29(4), 1328–1333 (1993)

    Article  Google Scholar 

  8. Hu, Q.L., Ma, G.F.: Variable structure control and active vibration suppression of flexible spacecraft during attitude maneuver. Aerosp. Sci. Technol. 9, 307–317 (2005)

    Article  Google Scholar 

  9. Hu, Q.L., Ma, G.F.: Vibration suppression of flexible spacecraft during attitude maneuvers. J. Guid. Control Dyn. 28(2), 377–380 (2005)

    Article  Google Scholar 

  10. Hu, Q.L., Ma, G.F.: Spacecraft vibration suppression using variable structure output feedback control and smart materials. ASME J. Vib. Acoust. 128(2), 221–230 (2006)

    Article  MathSciNet  Google Scholar 

  11. Hu, Q.L., Ma, G.F.: Optimal sliding mode maneuvering control and active vibration reduction of flexible spacecraft. In: Proceedings of the Institution of Mechanical Engineers, J. Aerosp. Eng. 220(4), 317–335 (2006)

  12. Zeng, Y., Araujo, A.D., Singh, S.N.: Output feedback variable structure adaptive control of a flexible spacecraft. Acta Astronaut. 44(1), 11–22 (1999)

    Article  Google Scholar 

  13. Iyer, A., Singh, S.N.: Variable structure slewing control and vibration damping of flexible spacecraft. Acta Astronaut. 25(1), 1–9 (1991)

    Article  Google Scholar 

  14. Singh, S.N.: Variable structure slewing control and vibration damping of flexible spacecraft. IEEE Trans. Aerosp. Electron. Syst. 23, 380–387 (1987)

    Article  Google Scholar 

  15. Oz, H., Mostafa, O.: Variable structure control systems (VSCS) maneuvering of flexible spacecraft. J. Astronaut. Sci. 36(3), 311–344 (1988)

    Google Scholar 

  16. Hu, Q.L., Ma, G.F.: Control of three-axis stabilized flexible spacecrafts using variable structure strategies subject to input nonlinearities. SAGE J. Vib. Control 12(6), 659–681 (2006)

    Article  MathSciNet  Google Scholar 

  17. Crassidis, J.L., Vadali, S.R., Markley, F.L.: Optimal variable structure control tracking of spacecraft maneuvers. J. Guid. Control Dyn. 23(3), 564–566 (2000)

    Google Scholar 

  18. Cheon, Y.J.: Sliding mode control of spacecraft with actuator dynamics. Trans. Control Autom. Syst. Eng. 4(2), 169–175 (2002)

    MathSciNet  Google Scholar 

  19. Hanagud, S., Won, C.C., Obal, M.W.: Optimal placement of piezoelectric sensors and actuators. Am. Control Conf. 3, 1884–1889 (1988)

    Google Scholar 

  20. Lim, K.B.: Method for optimal actuator and sensor placement for large flexible structures. J. Guid. Control Dyn. 15(1), 49–57 (1992)

    Google Scholar 

  21. Newman, S.M.: Active damping control of a flexible space structure using piezoelectric sensors and actuators. Master thesis, US Naval Postgraduate School (1992)

  22. Song, G., Kotejoshyer, B.: Vibration reduction of flexible structures during slew operations. Int. J. Acoust. Vib. 7(2), 105–109 (2002)

    Google Scholar 

  23. Bailey, T., Hubbard, J.E.: Distributed piezoelectric-polymer active vibration control of a cantilever beam. J. Guid. Control Dyn. 8(5), 605–611 (1985)

    Article  MATH  Google Scholar 

  24. Tzou, H.S.: Piezpelectric Shells-Distributed Sensing and Control of Continua. Kluwer Academic, London (1993)

    Google Scholar 

  25. Won, C.C., Sulla, J.L., Sparks, D.W., Belvin, W.K.: Application of piezoelectric devices to vibration suppression. J. Guid. Control Dyn. 17(6), 1333–1338 (1994)

    Google Scholar 

  26. Di Gennaro, S.: Output stabilization of flexible spacecraft with active vibration suppression. IEEE Trans. Aerosp. Electron. Syst. 39(3), 747–759 (2003)

    Article  Google Scholar 

  27. Popov, V.M.: Hyperstability of Control System. Springer, Berlin (1973)

    Google Scholar 

  28. Fung, R.F., Yang, R.T.: Application of VSC in position control of a nonlinear lector hydraulic velocity servo systems. Comput. Struct. 66(4), 365–372 (1998)

    Article  MATH  Google Scholar 

  29. Hwang, C.L.: Sliding mode control using time-varying switching gain and boundary layer for electrohydraulic position and differential pressure control. IEE Proc. Control Theory Appl. 143(4), 325–333 (1996)

    Article  MATH  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, 150001, China

    Qinglei Hu

Authors
  1. Qinglei Hu
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Qinglei Hu.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Hu, Q. Sliding mode maneuvering control and active vibration damping of three-axis stabilized flexible spacecraft with actuator dynamics. Nonlinear Dyn 52, 227–248 (2008). https://doi.org/10.1007/s11071-007-9274-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11071-007-9274-6

Keywords

Search

Navigation