Spacecraft Dynamics and Control: The Embedded Model Control Approach provides a uniform and systematic way of approaching space engineering control problems from the standpoint of model-based control, using state-space equations as the key paradigm for simulation, design and implementation.
The book introduces the Embedded Model Control methodology for the design and implementation of attitude and orbit control systems. The logic architecture is organized around the embedded model of the spacecraft and its surrounding environment. The model is compelled to include disturbance dynamics as a repository of the uncertainty that the control law must reject to meet attitude and orbit requirements within the uncertainty class. The source of the real-time uncertainty estimation/prediction is the model error signal, as it encodes the residual discrepancies between spacecraft measurements and model output. The embedded model and the uncertainty estimation feedback (noise estimator in the book) constitute the state predictor feeding the control law. Asymptotic pole placement (exploiting the asymptotes of closed-loop transfer functions) is the way to design and tune feedback loops around the embedded model (state predictor, control law, reference generator). The design versus the uncertainty class is driven by analytic stability and performance inequalities. The method is applied to several attitude and orbit control problems.
1. Chapter 1. Introduction - p. 1 2. Chapter 2. Attitude Representation - p. 17 3. 2.1. Objectives - p. 17 4. 2.2. Vectors and Matrices - p. 81 5. 2.3. Matrices - p. 25 6. 2.4. Unit Quaternions - p. 39 7. 2.5. Space and Time Coordinates - p. 45 8. 2.6. Representations of Rigid Body Attitude - p. 60 9. 2.7. Infinitesimal and Error Rotations - p. 80 10. Chapter 3. Orbital Dynamics - p. 85 11. 3.1. Objectives - p. 85 12. 3.2. The Two-Body Problem - p. 121 13. 3.3. Free Response of the Restricted Two-Body Problem - p. 89 14. 3.4. Orbit Propagation - p. 102 15. 3.5. Analysis of Orbital Trajectories - p. 107 16. 3.6. Stability of Orbit - p. 120 17. Chapter 4. The Environment: Perturbing Forces and Torques - p. 129 18. 4.1. Objectives - p. 129 19. 4.2. Gravity Forces and Torques - p. 169 20. 4.3. Electromagnetic Radiation Forces and Torques - p. 146 21. 4.4. Aerodynamic Forces and Torques - p. 153 22. 4.5. Atmospheric Density - p. 159 23. 4.6. Planetary Magnetic Field Torques - p. 168 24. 4.7. Internal Forces and Torques - p. 173 25. 4.8. Embedded Model of Disturbances - p. 179 26. Chapter 5. Perturbed Orbital Dynamics - p. 187 27. 5.1. Objectives - p. 187 28. 5.2. Perturbed Orbits - p. 188 29. 5.3. Dynamics of the Orbital Elements - p. 190 30. 5.4. From n-Body System to Three-Body System - p. 207 31. 5.5. Hill–Clohessy–Wiltshire Equation - p. 209 32. 5.6. Restricted Three-Body Problem - p. 223 33. Chapter 6. Attitude Kinematics: Modeling and Feedback - p. 237 34. 6.1. Objectives - p. 237 35. 6.2. Attitude Matrix and Vector Kinematics - p. 238 36. 6.3. Euler Angle Kinematics - p. 246 37. 6.4. Quaternion Kinematics - p. 258 38. 6.5. Error Quaternion Kinematics - p. 263 39. 6.6. Feedback Implementation and Pole Placement - p. 285 40. Chapter 7. Attitude Dynamics: Modeling and Control - p. 299 41. 7.1. Objectives - p. 299 42. 7.2. Attitude Dynamics - p. 363 43. 7.3. Attitude Dynamics and Feedback - p. 311 44. 7.4. Torque-Free Rigid Body Attitude - p. 333 45. 7.5. Attitude Dynamics Under Gravity Gradient and Aerodynamic Torques - p. 347 46. 7.6. Simple Control Laws - p. 362 47. 7.7. Attitude Dynamics and Control With Internal Rotating Masses - p. 370 48. Chapter 8. Orbit and Attitude Sensors - p. 389 49. 8.1. Objectives - p. 389 50. 8.2. Sensor and Measurement Error Models - p. 390 51. 8.3. Inertial Navigation Sensors - p. 399 52. 8.4. Accelerometers - p. 401 53. 8.5. Gyroscope Sensors - p. 410 54. 8.6. Global Navigation Sensors - p. 425 55. 8.7. Sun Sensors - p. 438 56. 8.8. Horizon Sensors - p. 442 57. 8.9. Star Trackers - p. 448 58. 8.10. Magnetic-Field Sensors - p. 456 59. Chapter 9. Orbit and Attitude Actuators - p. 463 60. 9.1. Introduction - p. 463 61. 9.2. Propulsion Systems - p. 470 62. 9.3. Propulsion Geometry - p. 477 63. 9.4. Momentum Exchange Actuators - p. 496 64. 9.5. Reaction Wheels - p. 497 65. 9.6. Control Momentum Gyros - p. 516 66. 9.7. Magnetic Torquers - p. 517 67. Chapter 10. Attitude Determination - p. 521 68. 10.1. Objectives - p. 521 69. 10.2. The Measurement Errors - p. 523 70. 10.3. Two-Axis Static Attitude Determination Methods - p. 527 71. 10.4. Static Attitude Determination: The Problem of Wahba. Fundamentals - p. 535 72. 10.5. Static Attitude Determination: The Problem of Wahba. Quaternion Algorithms - p. 548 73. 10.6. Angular Rate Determination From Direction Measurements - p. 558 74. Chapter 11. Orbital Control and Prediction Problems - p. 565 75. 11.1. Objectives - p. 565 76. 11.2. Drag-Free Control - p. 567 77. 11.3. Orbital Quaternion Prediction - p. 587 78. Chapter 12. Attitude Control: A Case Study - p. 607 79. 12.1. Objectives - p. 607 80. 12.2. Passive and Active Attitude Control - p. 609 81. 12.3. Control Modes and Requirements - p. 610 82. 12.4. Block Diagram of a Generic Attitude Control Subsystem - p. 618 83. 12.5. Case Study: Drag-Free and Attitude Control of a Scientific Mission - p. 620 84. Chapter 13. Introduction to Dynamic Systems - p. 659 85. 13.1. Objectives - p. 659 86. 13.2. State-Space Representation - p. 660 87. 13.3. Stability Concepts and Criteria - p. 669 88. 13.4. Controllability and Observability - p. 680 89. 13.5. Ideal Control Law: State Feedback and Disturbance Rejection - p. 685 90. 13.6. State Predictor and Real Control Law - p. 695 91. 13.7. Random Processes, State Estimation, and Prediction - p. 708 92. Chapter 14. Introduction to Embedded Model Control - p. 725 93. 14.1. Objectives and EMC Principles - p. 725 94. 14.2. Models and Uncertainty - p. 729 95. 14.3. State Predictor Design Versus Uncertainty - p. 736 96. 14.4. Control Law Design - p. 753 97. Index - p. 763
Spacecraft Dynamics and Control: The Embedded Model Control Approach provides a uniform and systematic way of approaching space engineering control problems from the standpoint of model-based control, using state-space equations as the key paradigm for simulation, design and implementation.
The book introduces the Embedded Model Control methodology for the design and implementation of attitude and orbit control systems. The logic architecture is organized around the embedded model of the spacecraft and its surrounding environment. The model is compelled to include disturbance dynamics as a repository of the uncertainty that the control law must reject to meet attitude and orbit requirements within the uncertainty class. The source of the real-time uncertainty estimation/prediction is the model error signal, as it encodes the residual discrepancies between spacecraft measurements and model output. The embedded model and the uncertainty estimation feedback (noise estimator in the book) constitute the state predictor feeding the control law. Asymptotic pole placement (exploiting the asymptotes of closed-loop transfer functions) is the way to design and tune feedback loops around the embedded model (state predictor, control law, reference generator). The design versus the uncertainty class is driven by analytic stability and performance inequalities. The method is applied to several attitude and orbit control problems.
1. Chapter 1. Introduction - p. 1 2. Chapter 2. Attitude Representation - p. 17 3. 2.1. Objectives - p. 17 4. 2.2. Vectors and Matrices - p. 81 5. 2.3. Matrices - p. 25 6. 2.4. Unit Quaternions - p. 39 7. 2.5. Space and Time Coordinates - p. 45 8. 2.6. Representations of Rigid Body Attitude - p. 60 9. 2.7. Infinitesimal and Error Rotations - p. 80 10. Chapter 3. Orbital Dynamics - p. 85 11. 3.1. Objectives - p. 85 12. 3.2. The Two-Body Problem - p. 121 13. 3.3. Free Response of the Restricted Two-Body Problem - p. 89 14. 3.4. Orbit Propagation - p. 102 15. 3.5. Analysis of Orbital Trajectories - p. 107 16. 3.6. Stability of Orbit - p. 120 17. Chapter 4. The Environment: Perturbing Forces and Torques - p. 129 18. 4.1. Objectives - p. 129 19. 4.2. Gravity Forces and Torques - p. 169 20. 4.3. Electromagnetic Radiation Forces and Torques - p. 146 21. 4.4. Aerodynamic Forces and Torques - p. 153 22. 4.5. Atmospheric Density - p. 159 23. 4.6. Planetary Magnetic Field Torques - p. 168 24. 4.7. Internal Forces and Torques - p. 173 25. 4.8. Embedded Model of Disturbances - p. 179 26. Chapter 5. Perturbed Orbital Dynamics - p. 187 27. 5.1. Objectives - p. 187 28. 5.2. Perturbed Orbits - p. 188 29. 5.3. Dynamics of the Orbital Elements - p. 190 30. 5.4. From n-Body System to Three-Body System - p. 207 31. 5.5. Hill–Clohessy–Wiltshire Equation - p. 209 32. 5.6. Restricted Three-Body Problem - p. 223 33. Chapter 6. Attitude Kinematics: Modeling and Feedback - p. 237 34. 6.1. Objectives - p. 237 35. 6.2. Attitude Matrix and Vector Kinematics - p. 238 36. 6.3. Euler Angle Kinematics - p. 246 37. 6.4. Quaternion Kinematics - p. 258 38. 6.5. Error Quaternion Kinematics - p. 263 39. 6.6. Feedback Implementation and Pole Placement - p. 285 40. Chapter 7. Attitude Dynamics: Modeling and Control - p. 299 41. 7.1. Objectives - p. 299 42. 7.2. Attitude Dynamics - p. 363 43. 7.3. Attitude Dynamics and Feedback - p. 311 44. 7.4. Torque-Free Rigid Body Attitude - p. 333 45. 7.5. Attitude Dynamics Under Gravity Gradient and Aerodynamic Torques - p. 347 46. 7.6. Simple Control Laws - p. 362 47. 7.7. Attitude Dynamics and Control With Internal Rotating Masses - p. 370 48. Chapter 8. Orbit and Attitude Sensors - p. 389 49. 8.1. Objectives - p. 389 50. 8.2. Sensor and Measurement Error Models - p. 390 51. 8.3. Inertial Navigation Sensors - p. 399 52. 8.4. Accelerometers - p. 401 53. 8.5. Gyroscope Sensors - p. 410 54. 8.6. Global Navigation Sensors - p. 425 55. 8.7. Sun Sensors - p. 438 56. 8.8. Horizon Sensors - p. 442 57. 8.9. Star Trackers - p. 448 58. 8.10. Magnetic-Field Sensors - p. 456 59. Chapter 9. Orbit and Attitude Actuators - p. 463 60. 9.1. Introduction - p. 463 61. 9.2. Propulsion Systems - p. 470 62. 9.3. Propulsion Geometry - p. 477 63. 9.4. Momentum Exchange Actuators - p. 496 64. 9.5. Reaction Wheels - p. 497 65. 9.6. Control Momentum Gyros - p. 516 66. 9.7. Magnetic Torquers - p. 517 67. Chapter 10. Attitude Determination - p. 521 68. 10.1. Objectives - p. 521 69. 10.2. The Measurement Errors - p. 523 70. 10.3. Two-Axis Static Attitude Determination Methods - p. 527 71. 10.4. Static Attitude Determination: The Problem of Wahba. Fundamentals - p. 535 72. 10.5. Static Attitude Determination: The Problem of Wahba. Quaternion Algorithms - p. 548 73. 10.6. Angular Rate Determination From Direction Measurements - p. 558 74. Chapter 11. Orbital Control and Prediction Problems - p. 565 75. 11.1. Objectives - p. 565 76. 11.2. Drag-Free Control - p. 567 77. 11.3. Orbital Quaternion Prediction - p. 587 78. Chapter 12. Attitude Control: A Case Study - p. 607 79. 12.1. Objectives - p. 607 80. 12.2. Passive and Active Attitude Control - p. 609 81. 12.3. Control Modes and Requirements - p. 610 82. 12.4. Block Diagram of a Generic Attitude Control Subsystem - p. 618 83. 12.5. Case Study: Drag-Free and Attitude Control of a Scientific Mission - p. 620 84. Chapter 13. Introduction to Dynamic Systems - p. 659 85. 13.1. Objectives - p. 659 86. 13.2. State-Space Representation - p. 660 87. 13.3. Stability Concepts and Criteria - p. 669 88. 13.4. Controllability and Observability - p. 680 89. 13.5. Ideal Control Law: State Feedback and Disturbance Rejection - p. 685 90. 13.6. State Predictor and Real Control Law - p. 695 91. 13.7. Random Processes, State Estimation, and Prediction - p. 708 92. Chapter 14. Introduction to Embedded Model Control - p. 725 93. 14.1. Objectives and EMC Principles - p. 725 94. 14.2. Models and Uncertainty - p. 729 95. 14.3. State Predictor Design Versus Uncertainty - p. 736 96. 14.4. Control Law Design - p. 753 97. Index - p. 763
