2022/09/21 by Roshan A. Chavan, T. M. Seigler, T. Michael Seigler +1
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Magnetic Bearings and Levitation Dynamics
paper · doi:10.1109/tcst.2022.3201191
openalex publication_date 2022/09/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/30
This article considers attitude control of a rigid body (e.g., small satellite) with internal rotating-mass actuators that, unlike reaction wheels, cannot perform unrestricted rotations. Instead, the rotational stroke of each actuator is limited to[-α,α]rad, whereα > 0. We present two attitude-feedback control methods. The first method addresses setpoint tracking of constant attitude commands, whereas the second approach addresses command following of time-varying attitude commands. Both methods use control signals that are continuous and piecewise sinusoidal but whose derivatives can contain discontinuities. The main analytic results show that these attitude-feedback controls achieve asymptotic setpoint tracking for a constant attitude command and approximate command following for a time-varying attitude command. The results also show that the controls satisfy the strict actuator amplitude constraint. Each control method is demonstrated in numerical simulations of a small satellite in deep space. Finally, we present single-axis closed-loop attitude control experiments for a small-satellite system on an air bearing.