Adaptive Control of Uncertain Hamiltonian Multi-Input Multi-Output Systems: With Application to Spacecraft Control

Abstract

A novel adaptive tracking control law for nonlinear Hamiltonian multi-input multi-output (MIMO) systems with uncertain parameters in the actuator modeling as well as the inertia and/or the Coriolis and centrifugal terms is developed. The physical properties of the Hamiltonian systems are effectively used in the control design and the stability analysis. The number of the parameter estimates is significantly lowered as compared to the conventional adaptive control methods which are based on the state-space form. The developed control scheme is applied for attitude control of a spacecraft with both the inertia and the actuator uncertainties and numerical examples show that the controller successfully deals with the unknown inertia/actuator parameters.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2009
Accession Number
ADA597216

Entities

People

  • Brij N. Agrawal
  • Hyungjoo Yoon

Organizations

  • Naval Postgraduate School

Tags

DTIC Thesaurus Topics

  • Actuators
  • Algorithms
  • Angular Momentum
  • Attitude Control Systems
  • Control Systems
  • Differential Equations
  • Electronic Mail
  • Equations
  • Equations Of Motion
  • Inertia
  • Moment Of Inertia
  • Multiple Input Multiple Output
  • Physical Properties
  • Spacecraft
  • Standards
  • Total Angular Momentum
  • Uncertainty

Readers

  • Fluid Dynamics.
  • Robotics and Automation.
  • Wave Propagation and Nonlinear Chaotic Dynamics.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers