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Nonlinear Trajectory Tracking using Vectorial Backstepping Approach
Hyochoong Bang,Sangjong Lee,Haechang Lee 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
This paper discussed a nonlinear trajectory tracking problem for stratospheric airship platform and a novel approach of the nonlinear control scheme is applied. Target airship model is the 200m stratospheric airship platform capable of flying upto 20 km altitude. Full 6-DOF nonlinear dynamics of unmanned airship are defined according to the target airship’ configuration including the moving windfield. Based on this airship model, a backstepping design formulation for the trajectory tracking control is described. The tracking control strategy of vectorial backstepping is applied to derive the tracking control law and global asymptotically stability is proved by Lyapunov stability analysis. Finally, numerical simulations have been carried out to assess the performance of the proposed tracking controller.
Robust Time-Optimal Control for Flexible Structure Vibration Control by Augmented Dynamics
Hyochoong Bang,Hyun Jae Lee,Youn-Ju Eun 한국항공우주학회 2004 International Journal of Aeronautical and Space Sc Vol.5 No.1
Robust optimal control problem for flexible spacecraft/structures using on-off type discrete actuators has been a subject of intensive research. Optimization by switching time parameterization can be used to minimize the maneuver time subject to equality boundary constraints. Sensitivity of the switching times with respect to modal parameters could be a critical factor degrading the performance of the time optimal solutions. A new approach for the robustness enhancement of switching times with respect to modal parameter uncertainty is introduced. A new concept so-called augmented dynamic model is added to account for the modal uncertainty. The proposed approach turns out to be similar to some previous methods, but it essentially provides some new results.
Attitude Maneuver Control of Flexible Spacecraft by Observer-based Tracking Control
Hyochoong Bang,Choong-Seok Oh 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.1
A constraint equation-based control law design for large angle attitude maneuvers of flexible spacecraft is addressed in this paper. The tip displacement of the flexible spacecraft model is prescribed in the form of a constraint equation. The controller design is attempted in the way that the constraint equation is satisfied throughout the maneuver. The constraint equation leads to a two-point boundary value problem which needs backward and forward solution techniques to satisfy terminal constraints. An observer-based tracking control law takes the constraint equation as the input to the dynamic observer. The observer state is used in conjunction with the state feedback control law to have the actual system follow the observer dynamics. The observer-based tracking control law eventually turns into a stabilized system with inherent nature of robustness and disturbance rejection in LQR type control laws.<br/>
Nonlinear Attitude Control for a Rigid Spacecraft by Feedback Linearization
Hyochoong Bang,Jung-Shin Lee,Youn-Ju Eun 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.2
Attitude control law design for spacecraft large angle maneuvers is investigated in this paper. The feedback linearization technique is applied to the design of a nonlinear tracking control law. The output function to be tracked is the quaternion attitude parameter. The designed control law turns out to be a combination of attitude and attitude rate tracking commands. The attitude-only output function, therefore, leads to a stable closed-loop system following the given reference trajectory. The principal advantage of the proposed method is that it is relatively easy to produce reference trajectories and associated controller.<br/>