Optimal Attitude Control using a Pre-Stabilized Linearized Control

LIMACHE, ALEJANDRO C.; SANCHEZ,IGNACIO; GONZALEZ, ALEJANDRO

Buenos Aires

Congreso; AADECA 2018; 2018

Asociación Argentina de Control Automático

The rigid body attitude dynamics is a non-linear phenomena. We introduce a non-linear feedback attitude control law which has the net effect of transforming the non-linear rigid body attitude dynamics into a linear stable plant, in terms of the Euler angles. Although, such linearized attitude plant can be used as an attitude control law, we go an step further, and used it, as the basis to propose two optimal attitude controllers, on top of it. The first optimal controlled is an optimal controller derived in continuum and the second one is an MPC controller. Numerical experiments are performed to show that the three presented controllers are able to work well in the reorientation maneuver. However, as expected, the optimal controllers have superior advantages, over the original pre-stabilized linear controller.