Title: Spacecraft attitude manoeuvre using robust generalised dynamic inversion

Authors: Uzair Ansari; Abdulrahman H. Bajodah

Addresses: Aeronautical Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi Arabia ' Aeronautical Engineering Department, King Abdulaziz University, Jeddah 21589, Saudi Arabia

Abstract: This paper presents the design of rigid body spacecraft attitude control using robust generalised dynamic inversion (RGDI). In RGDI control, the particular part is responsible to enforce the constraint dynamics based on the attitude deviation function. The control law is extracted by inverting the prescribed constraint dynamics using Moore-Penrose generalised inverse (MPGI). The auxiliary part of the RGDI control which is affine in the null space of the control coefficient vector is utilised to stabilise the angular body rates. The singularity problem is addressed by augmenting the dynamic scale factor in MPGI. To guarantee robustness against parametric variations and disturbances, an additional term based on the concept of sliding mode control is integrated with GDI, such that semi-global practically stable attitude tracking is guaranteed. The RGDI controller's performance is evaluated through numerical simulations on the spacecraft mathematical model whose kinematical and dynamical equations are modelled in Simulink/MATLAB environment.

Keywords: generalised dynamic inversion; GDI; sliding mode control; SMC; spacecraft control; Lyapunov stability; robust control.

DOI: 10.1504/IJNDC.2019.103284

International Journal of Nonlinear Dynamics and Control, 2019 Vol.1 No.4, pp.317 - 331

Received: 13 Jul 2018
Accepted: 15 Jan 2019
Published online: 25 Oct 2019 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article