A novel algorithm for attitude control of a spacecraft subjected to conically constrained inclusion and exclusion regions using a kinematic steering law and a rate-based attitude servo system is presented. The tracking errors are defined using switched modified Rodrigues parameters to yield, leveraging the nonuniqueness of the parametrization, a nonsingular description. Lyapunov theory and logarithmic barrier potential functions are used to derive a kinematic steering law suitable for both attitude regulation and tracking scenarios. Conditions for constraint enforcement under limited-control-torque capability are studied. Numerical examples of a regulation and a tracking problem are shown. A Monte Carlo simulation is performed to show constraint avoidance with a variety of worst-case initial conditions under bounded-torque control capabilities.


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    Title :

    Kinematic Steering Law for Conically Constrained Torque-Limited Spacecraft Attitude Control


    Contributors:

    Published in:

    Publication date :

    2018-09-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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