›› 2012, Vol. 32 ›› Issue (5): 27-33.doi: 10.3780/j.issn.1000-758X.2012.05.005

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ControlPropertyoftheSpacecraftAttitudeUnderactuatedbyWheels

 GUI  Hai-Chao1, XU  Shi-Jie1, JIN  Lei1, ZHANG  Jun2   

  1. (1BeihangUniversity,Beijing100191)
    (2NationalLaboratoryofSpaceIntelligentControl,Beijing100190)
  • Received:2011-10-20 Revised:2012-03-14 Online:2012-10-25 Published:2012-10-25

Abstract: Smalltimelocalcontrollability(STLC)andstabilizabilityofthespacecraftattitudeunderactuatedbyreactionwheels(RWs)wereinvestigatedwiththewheelspeedsascontrolinputs.Firstly,withthewheelspeedsbeingtreatedasinputs,theconservationconstraintofthetotalangularmomentumofthespacecraftandRWswasdirectlybroughtintothedynamicsofthesystem.ThennonlinearcontrollabilityandstabilizabilitytheorywereutilizedtoanalyzethecontrolpropertyofthisdynamicswithoneandtwoRWsrespectively.TheresultsshowthattheSTLCofthespacecraftattitudeispossibleonlywhentwononcoaxialRWsareavailable.Simultaneously,thesystemcannotbeasymptoticallystabilizedbyatimeinvariantsmoothfeedback,butitstillcanbeasymptoticallystabilizedatleastbyapiecewisecontinuousfeedback.Accordingly,anonsmoothcontrollawbasedonquaternionwasconstructedtostabilizethespacecraftattitudewithwheelspeedsunderthesaturationlimits,whichnotonlyconfirmsthetheoreticaloutcomesbutalsoispracticallyuseful.

Key words: Reactionwheel, Localcontrollability〓AsymptoticstabilizationUnderactuatedspacecraftReactionwheel, Localcontrollability, Asymptoticstabilization, Underactuatedspacecraft