Optimal control for control moment gyros - Center-stable manifold approach
نویسندگان
چکیده
This paper proposes a framework for optimal control of mechanical systems possessing conserved quantities such as control moment gyros (CMGs). It will be shown that output regulation theory is appropriate to handle such constraints and that the center-stable manifold method for solving the associated Hamilton-Jacobi equation is effective for computing the optimal feedback control. With this framework, it is possible to design robust and high performance controller for CMGs. Simulations show the effectiveness of the proposed method.
منابع مشابه
Optimal Gyricity Distribution for Space Structure Vibration Control
Many space vehicles have been launched with large flexible components such as booms and solar arrays. These large space structures may require active shape control given the possibility of lightly damped vibrations. Such vibrations can be controlled using a collection of control moment gyros, which consist of a spinning wheel in gimbals and produce a torque when the orientation of the wheel is ...
متن کاملSingular Direction Avoidance Steering for Control-Moment Gyros
A new form of the equations of motion for a spacecraft with single gimbal control-moment gyros (CMG) is developed using a momentum approach. This set of four vector equations describing the rotational motion of the system is of order 2N + 7, where N is the number of CMGs. The control input is an N £ 1 column vector of torques applied to the gimbal axes. A modi cation to a singularity robust Ly...
متن کاملAttitude Dynamics/Control of Dual-Body Spacecraft with Variable-Speed Control Moment Gyros
The dynamics equations of a spacecraft consisting of two bodies mutually rotating around a common gimbal axis are derived by the use of the Newton–Euler approach. One of the bodies contains a cluster of single-gimbal variable-speed control moment gyros. The equations include all of the inertia terms and are written in a general form, valid for any cluster configurations and any number of actuat...
متن کاملVariable Speed Cmg Control of a Dual-spin Stabilized Unconventional Vtol Air Vehicle
This paper describes an approach based on using both bias momentum and multiple control moment gyros for controlling the attitude of statically unstable thrustlevitated vehicles in hover or slow translation. The stabilization approach described in this paper uses these internal angular momentum transfer devices for stability, augmented by thrust vectoring for trim and other “outer loop” control...
متن کاملNonlinear Robust Optimal Control via Inverse Problem of Optimal Regulator
Recently, an approach to derive solutions of HamiltonJacobi equation with high accuracy, called stable manifold theory, is proposed. So far some researches about nonlinear optimal control via stable manifold are subjected. However, research of robustness for nonlinear optimal control is not reported. This report proposes a new framework to enhance robustness to the nonlinear optimal control sys...
متن کامل