Designing an Adaptive Control Algorithm for Amirkabir’s Laboratory Attitude Simulator of a Spacecraft

Document Type : Research Article

Authors

1 Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran

2 Faculty of Space Science and Technology Institute, Amirkabir University of Technology, Tehran, Iran

Abstract

ABSTRACT: In this paper, after presenting a brief introduction about Amirkabir University of Technology’s
attitude simulator, governing equations are obtained. Viscous friction model is chosen to model the existing friction
in the bearings of the attitude simulator. The main purpose of this paper is to design an adaptive attitude control
algorithm for the attitude simulator in order to control it in the desired path and estimate the coefficients of friction
due to simulator’s bearings. In order to prevent singularity in simulations, Rodriguez parameters are used for
kinematics representation. Firstly, the governing equations are transformed into a robotic form. The moments of
inertia and coefficients of viscous friction model are assumed as uncertainties. Then, by introducing a Lyapunov
function, the stability of the system is checked and the parameters are estimated. The adaptation law is obtained
by the Lyapunov function and the stability of the system is then proved. In order to demonstrate the efficiency of
this adaptive control algorithm, a nonlinear Lyapunov-based attitude control algorithm is designed and compared to
the adaptive controller. The simulations are done in Matlab software package and the parameters of the moment of
inertia matrix and coefficients of viscous friction model are estimated by the adaptation law of the controller. During
the simulation, the rotational velocity of the reaction wheels are obtained and it is shown that this attitude control
algorithm is implementable on the attitude simulator.

Keywords

Main Subjects

References

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Amirkabir Journal of Mechanical Engineering
Volume 50, Issue 1
May and June 2018
Pages 163-174

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