Abstract
This paper proposes an event-triggered active disturbance rejection control framework to achieve the simultaneous position and attitude control of a satellite in proximity operations. Firstly, to facilitate the satellite motion description, we derive the relative kinematics and dynamics in terms of dual quaternions with the considerations of internal uncertainties and external disturbances. Then, two kinds of event-triggered mechanisms in the sensor/observer and controller/actuator channels are proposed to reduce the utilization of onboard communication resources and to improve control performance, respectively. The observation error and tracking error of both the attitude and orbit systems are theoretically proven to be asymptotically bounded. Finally, the simulation results show that the proposed method can achieve simultaneous position and attitude tracking between target and chaser satellites with satisfactory control performance and reduced communication rates.
Similar content being viewed by others
References
Zhang Y Q, Li X, Liu H B, et al. Pose optimization based on integral of the distance between line segments. Sci China Tech Sci, 2016, 59: 135–148
Sun L. Adaptive fault-tolerant constrained control of cooperative spacecraft rendezvous and docking. IEEE Trans Ind Electron, 2020, 67: 3107–3115
Zhao P Y, Liu J G, Wu C C. Survey on research and development of on-orbit active debris removal methods. Sci China Tech Sci, 2020, 63: 2188–2210
Huang X, You Z, Chen L, et al. Coupled relative orbit and attitude control augmented by the geomagnetic Lorentz propulsions. J Guidance Control Dyn, 2021, 44: 1143–1156
Hu Q, Jiang C. Relative stereovision-based navigation for noncooperative spacecraft via feature extraction. IEEE ASME Trans Mechatron, 2022, 27: 2942–2952
Hu Q, Chen W, Zhang Y. Concurrent proximity control of servicing spacecraft with an uncontrolled target. IEEE ASME Trans Mechatron, 2019, 24: 2815–2826
Sun L, Huo W. Adaptive fuzzy control of spacecraft proximity operations using hierarchical fuzzy systems. IEEE ASME Trans Mechatron, 2016, 21: 1629–1640
Hu Q, Chen W, Zhang Y. Concurrent proximity control of servicing spacecraft with an uncontrolled target. IEEE ASME Trans Mechatron, 2019, 24: 2815–2826
Hu Z H, Yuan H, Xu W F, et al. A geometric method based on space arc for pose-configuration simultaneous planning of segmented hyper-redundant manipulators. Sci China Tech Sci, 2021, 64: 2389–2407
Filipe N, Tsiotras P. Adaptive model-independent tracking of rigid body position and attitude motion with mass and inertia matrix identification using dual quaternions. In: Proceedings of the AIAA Guidance, Navigation, and Control (GNC) Conference. Boston, 2013
Wang J, Sun Z. 6-DOF robust adaptive terminal sliding mode control for spacecraft formation flying. Acta Astronaut, 2012, 73: 76–87
Gui H, Vukovich G. Dual-quaternion-based adaptive motion tracking of spacecraft with reduced control effort. Nonlinear Dyn, 2016, 83: 597–614
Su X, Liu X, Shi P, et al. Sliding mode control of hybrid switched systems via an event-triggered mechanism. Automatica, 2018, 90: 294–303
Huang N, Duan Z S, Zhao Y. Distributed consensus for multiple Euler-Lagrange systems: An event-triggered approach. Sci China Tech Sci, 2016, 59: 33–44
Song J, Wang Y K, Niu Y, et al. Periodic event-triggered terminal sliding mode speed control for networked PMSM system: A GA-optimized extended state observer approach. IEEE ASME Trans Mechatron, 2022, 27: 4153–4164
Hu A H, Park J H, Cao J D, et al. Event-triggered bipartite consensus over cooperation-competition networks under DoS attacks. Sci China Tech Sci, 2021, 64: 157–168
Tang Y, Zhang D, Jin X, et al. A resilient attitude tracking algorithm for mechanical systems. IEEE ASME Trans Mechatron, 2019, 24: 2550–2561
Wang X X, Liu Z X, Chen Z Q. Event-triggered fault-tolerant consensus control with control allocation in leader-following multi-agent systems. Sci China Tech Sci, 2021, 64: 879–889
Ristevski S, Yucelen T, Muse J A. An event-triggered distributed control architecture for scheduling information exchange in networked multiagent systems. IEEE Trans Contr Syst Technol, 2022, 30: 1090–1101
Shi Y, Hu Q. Observer-based spacecraft formation coordinated control via a unified event-triggered communication. IEEE Trans Aerosp Electron Syst, 2021, 57: 3307–3319
Hou L, Zou H, Zheng K, et al. Orbit estimation for spacecraft based on intermittent measurements: An event-triggered ukf approach. IEEE Trans Aerosp Electron Syst, 2022, 58: 304–317
Wang C, Guo L, Wen C, et al. Event-triggered adaptive attitude tracking control for spacecraft with unknown actuator faults. IEEE Trans Ind Electron, 2020, 67: 2241–2250
Cai D, Zou H, Wang J, et al. Event-triggered attitude tracking for rigid spacecraft. Sci China Inf Sci, 2019, 62: 222202
Liu W, Geng Y, Wu B, et al. Neural-network-based adaptive event-triggered control for spacecraft attitude tracking. IEEE Trans Neural Netw Learn Syst, 2020, 31: 4015–4024
Wang A, Mu B, Shi Y. Consensus control for a multi-agent system with integral-type event-triggering condition and asynchronous periodic detection. IEEE Trans Ind Electron, 2017, 64: 5629–5639
Mousavi S H, Ghodrat M, Marquez H J. Integral-based event-triggered control scheme for a general class of non-linear systems. IET Control Theor Appl, 2015, 9: 1982–1988
Hao Y, Fei H. Integral-based event-triggered control for linear systems with transmission delays. In: Proceedings of the Control Conference. Chengdu, 2016
Sun Q, Chen J, Shi Y. Integral-type event-triggered model predictive control of nonlinear systems with additive disturbance. IEEE Trans Cybern, 2021, 51: 5921–5929
Li C, Zou H, Shi D, et al. Proportional-integral-type event-triggered coupled attitude and orbit tracking control using dual quaternions. IEEE Trans Aerosp Electron Syst, 2022, 58: 3021–3036
Song J, Shi D, Shi Y, et al. Proportional-integral event-triggered control of networked systems with unmatched uncertainties. IEEE Trans Ind Electron, 2022, 69: 9320–9330
Cui H T, Cheng X J. Anti-unwinding attitude maneuver control of spacecraft considering bounded disturbance and input saturation. Sci China Tech Sci, 2012, 55: 2518–2529
Gao S, Liu X, Jing Y, et al. Finite-time prescribed performance control for spacecraft attitude tracking. IEEE ASME Trans Mechatron, 2022, 27: 3087–3098
Sun T, Sun X M, Zhao X, et al. Attitude control of rigid bodies: An energy-optimal geometric switching control approach. IEEE ASME Trans Mechatron, 2022, 27: 1162–1173
Tong X, Chen M, Yang F. Robust hybrid attitude and gyro-bias observer on quaternions. IEEE Trans Ind Electron, 2022, 69: 8545–8553
Gui H, Vukovich G. Dual-quaternion-based adaptive motion tracking of spacecraft with reduced control effort. Nonlinear Dyn, 2016, 83: 597–614
Filipe N, Tsiotras P. Simultaneous position and attitude control without linear and angular velocity feedback using dual quaternions. In: Proceedings of the 2013 American Control Conference. Washington D C, 2013. 4808–4813
Wu J, Liu K, Gao Y, et al. Coordinated control of relative position and attitude for spacecraft with actuator saturation. In: Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation. 2012. 2477–2481
Filipe N, Tsiotras P. Adaptive position and attitude-tracking controller for satellite proximity operations using dual quaternions. J Guidance Control Dyn, 2015, 38: 566–577
Chen Z, Huang J. Attitude tracking and disturbance rejection of rigid spacecraft by adaptive control. IEEE Trans Automat Contr, 2009, 54: 600–605
Guo B Z, Zhao Z. On the convergence of an extended state observer for nonlinear systems with uncertainty. Syst Control Lett, 2011, 60: 420–430
Huang Y, Wang J, Shi D, et al. Event-triggered sampled-data control: An active disturbance rejection approach. IEEE ASME Trans Mechatron, 2019, 24: 2052–2063
Khalil H K. Nonlinear systems. Upper Saddle River: Prentice Hall. 2002
Dong H, Hu Q, Akella M R, et al. Partial Lyapunov strictification: Dual-quaternion-based observer for 6-DOF Tracking control. IEEE Trans Contr Syst Technol, 2019, 27: 2453–2469
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Li, C., Zou, H., Shi, D. et al. Dual-quaternion-based satellite pose estimation and control with event-triggered data transmission. Sci. China Technol. Sci. 66, 1214–1224 (2023). https://doi.org/10.1007/s11431-022-2291-0
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11431-022-2291-0