Skip to main content
SpringerLink
Log in

Adaptive Dynamic Inversion Control with Actuator Saturation Constraints Applied to Tracking Spacecraft Maneuvers

  • Original Article
  • Published:
The Journal of the Astronautical Sciences Aims and scope Submit manuscript

Abstract

This paper presents an adaptive control methodology for nonlinear plants that prevents the adaptive parameters from drifting due to trajectory errors arising from control saturation. The reference trajectory is modified upon saturation, so that the modified trajectory approximates the original reference closely and can be tracked within saturation limits. The adaptive parameters are updated by the error between the plant trajectory and this modified reference. Asymptotic tracking of the modified reference is guaranteed with the assumption that the modified reference remains bounded and asymptotic convergence of the modified reference to the original reference is guaranteed whenever the control becomes unsaturated. Also, bounded learning of the adaptive parameters is guaranteed. A numerical example of attitude tracking for a rigid spacecraft is presented which shows that, in the presence of persistent excitation, the adaptive parameters converge to the true parameters, even when the actuator saturates.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. SUBBARAO, K. Structured Adaptive Model Inversion: Theory and Applications to Trajectory Tracking for Non-Linear Dynamical Systems, Ph.D. Dissertation, Aerospace Engineering Department, Texas A&M University, College Station, TX, 2001.

  2. SLOTINE, J. and LI, W. Applied Nonlinear Control, Prentice Hall, Upper Saddle River, NJ, 1991.

    MATH  Google Scholar 

  3. AKELLA, M. R. Structured Adaptive Control: Theory and Applications to Trajectory Tracking in Aerospace Systems, Ph.D. Dissertation, Aerospace Engineering Department, Texas A&M University, College Station, TX, 1999.

  4. SCHAUB, H., AKELLA, M. R., and JUNKINS, J. L. “Adaptive Realization of Linear Closed-Loop Tracking Dynamics in the Presence of Large System Model Errors,” The Journal of Astronautical Sciences, Vol 48, No. 4. Oct.–Dec. 2000. pp 537–551.

    Google Scholar 

  5. NARENDRA, K. S. and ANNASWAMY, A. Stable Adaptive Systems, Prentice Hall, Upper Saddle River, NJ, 1989.

    MATH  Google Scholar 

  6. SASTRY, S. and BODSON, M. Adaptive Control: Stability, Convergence, and Robustness, Prentice-Hall, Upper Saddle River, NJ, 1989.

    MATH  Google Scholar 

  7. IOANNOU, P. A. and SUN, J. Stable and Robust Adaptive Control, Prentice Hall, Upper Saddle River, NJ, 1995.

    Google Scholar 

  8. SUBBARAO, K., VERMA, A., and JUNKINS, J. L. “Structured Adaptive Model Inversion Applied to Tracking Spacecraft Maneuvers,” Proceedings of the AAS/AIAA Spaceflight Mechanics Meeting, Advances in the Astronautical Sciences, Vol. 105, 2000, pp. 1561–1578.

    Google Scholar 

  9. SUBBARAO, K., STEINBERG, M., and JUNKINS, J. L. “Structured Adaptive Model Inversion Applied to Tracking Aggressive Aircraft Maneuvers,” presented as paper AIAA 2001-4019 at the AIAA Guidance, Navigation, and Control Conference, Montreal, Canada, August 6–9, 2001.

  10. TANDALE, M. D. “Fault Tolerant Structured Adaptive Model Inversion,” presented as paper AIAA 2003–0015 at the AIAA Aerospace Sciences Conferences and Exhibit, Reno, NV, January 6–9, 2003.

  11. TANDALE, M. D. and VALASEK, J. “Structured Adaptive Model Inversion Control to Simultaneously Handle Actuator Failure and Actuator Saturation,” presented as paper AIAA 2003-5325 at the AIAA Guidance Navigation and Control Conference and Exhibit, Austin, TX, August 11–14, 2003.

  12. BERNSTEIN, D. S. and MICHEL, A. N. “Chronological Bibliography on Saturating Actuators,” International Journal of Robust and Nonlinear Control, Vol. 5, No. 5, August, 2005, pp. 375–380.

    Article  MathSciNet  Google Scholar 

  13. TEEL, A. R. “Nonlinear Small Gain Theorem for the Analysis of Control Systems with Saturation,” IEEE Transactions on Automatic Control, Vol. 21, No. 9, September, 1996, pp. 1256–1270.

    Article  MathSciNet  Google Scholar 

  14. SABERI, A., STOORVOGEL, A. A., and SANNUTI, P. “Decentralized Control with Input Saturation,” Proceedings of the American Control Conference, Vol. 3, 2004, pp. 2575–2579.

    Google Scholar 

  15. HU, T. and LIN, Z. Control Systems With Actuator Saturation: Analysis and Design, Birkhauser, Boston, MA, 2001.

  16. AKELLA, M. R. and JUNKINS, J. L. “Structured Model Reference Adaptive Control with Actuator Saturation Limits,” presented as paper AIAA 1998-4472 at the AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Boston, MA, August 10–12, 1998.

  17. JOHNSON, E. “Limited Authority Adaptive Flight Control,” Ph.D. dissertation, School of Aerospace Engineering, Georgia Institute of Technology, 2000.

  18. JOHNSON, E. N., CALISE, A. J., and CORBAN, J. E. “A Six Degree of Freedom Adaptive Flight Control Architecture for Trajectory Following,” presented as paper AIAA 2002-4776, AIAA Guidance Navigation and Control Conference and Exhibit, Monterey, California, 5–8 August 2002.

  19. JOHNSON, E. N. and KANNAN, S. K. “Adaptive Flight Control for an Autonomous Unmanned Helicopter,” presented as paper AIAA 2002-4776 at the AIAA Guidance Navigation and Control Conference and Exhibit, Monterey, California, 5–8 August 2002.

  20. JOHNSON, E. N. and CALISE, A. J. “Limited Authority Adaptive Flight Control for Reusable Launch Vehicles,” AIAA Journal of Guidance, Control and Dynamics, 2003, Vol. 26, No. 6, pp. 906–913.

    Article  Google Scholar 

  21. AHMED, J., COPPOLA, V. T., and BERNSTEIN, D. S. “Adaptive Asymptotic Tracking of Spacecraft Attitude Motion with Inertia Matrix Identification,” AIAA Journal of Guidance, Control and Dynamics, Vol. 21, No. 5, Sept.–Oct. 1998, pp. 684–691.

    Article  Google Scholar 

  22. KHALIL, H. K. Nonlinear Systems, 2nd ed., Prentice Hall, Upper Saddle River, NJ, 1996.

    Google Scholar 

  23. SCHAUB, H., AKELLA, M. R., and JUNKINS, J. L. “Adaptive Control of Nonlinear Attitude Motions Realizing Linear Closed-Loop Dynamics,” Proceedings of the American Control Conference, Vol. 3, San Diego, California, June, 1999, pp. 1563–1567.

  24. TANDALE, M.D., SUBBARAO, K., VALASEK, J., and AKELLA, M. R. “Structured Adaptive Model Inversion Control with Actuator Saturation Constraints Applied to Tracking Spacecraft Maneuvers,” Proceedings of the American Control Conference, Vol. 2, Boston, MA, June 30–July 2, 2004, pp. 1031–1036.

Download references

Author information

Authors and Affiliations

  1. Right Simulation Laboratory, Aerospace Engineering Department, Texas A&M University, Texas, 77843-3141, College Station, USA

    Monish D. Tandale (Graduate Research Assistant) & John Valasek (Associate Professor and Director)

Authors
  1. Monish D. Tandale
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. John Valasek
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Monish D. Tandale.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Tandale, M.D., Valasek, J. Adaptive Dynamic Inversion Control with Actuator Saturation Constraints Applied to Tracking Spacecraft Maneuvers. J of Astronaut Sci 52, 517–530 (2004). https://doi.org/10.1007/BF03546415

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF03546415

Search

Navigation