In this research, nonlinear attitude controllers are designed for a low earth orbit satellite intended to be used in observatory missions. The attitude is represented by the Modified Rodriguez Parameters (MRP) which is a minimal representation providing a fully invertible kinematics. As a difference from the classical satellite models existent in the literature, the model of this work incorporates the dynamics of the reaction wheel (actuator) including a brushless dc motor which is armature controlled. The total model has four group of state vectors which are the attitude, body rates, actuator torque and velocity. The main control approach of this research is developed by utilizing integrator back - stepping which provides a recursive stabilization methodology to the designer. For performance comparison, a second controller based on input output feedback linearization (IOFL) is presented. Both of the approaches produce a torque demand law and this is used for generating a desired reaction wheel velocity command. A reaction wheel controller uses the motor as the actuator and produces the necessary amount of the torque according to the desired wheel velocity command. In addition for the back - stepping based approach, a stability analysis against the external disturbance torques is also provided. Simulations are presented for validating the performance and robustness of the proposed controllers.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12609831/index.pdf |
| Date | 01 June 2008 |
| Creators | Doruk, Resat Ozgur |
| Contributors | Kocaoglan, Erol |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | Ph.D. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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