CubeSat Sliding Mode Attitude Control - Developing Testbed for Verification of Attitude Control Algorithms
Authors
Thomsen, Brian Gasberg ; Nielsen, Jens
Term
4. term
Education
Publication year
2016
Submitted on
2016-06-02
Pages
127
Abstract
Dette speciale undersøger præcis orienteringskontrol (attitude) for en CubeSat udstyret med fire reaktionshjul i en tetraederkonfiguration. Hovedspørgsmålet er, hvordan der kan designes en robust regulator og et praktisk testmiljø til verifikation af attitude-kontrolalgoritmer. Der afledes modeller for satellittens kinematik og dynamik samt for eksterne forstyrrelser og aktuatorer, som bruges i simulation og design. På dette grundlag udvikles en quaternion-baseret sliding-mode regulator, der kompenserer for Coriolis-momenter fra reaktionshjulene, samt en lineær regulator til sammenligning. Begge algoritmer implementeres og evalueres i simulation. For at bygge bro mellem simulation og praksis udvikles et tre-aksers hardware-in-the-loop testbed, der integrerer MATLAB/Simulink med Robot Operating System (ROS) og muliggør tredimensionelle tests af kontrolalgoritmer. Testbed’et anvendes til at teste og verificere de udviklede regulatorer. Uddraget indeholder ikke detaljerede præstationsresultater.
This thesis addresses precise attitude control for a CubeSat equipped with four reaction wheels arranged in a tetrahedral configuration. The core question is how to design a robust controller and a practical test environment to verify attitude control algorithms. Dynamic and kinematic models of the spacecraft, its actuators, and external disturbances are derived and used for simulation and controller design. A quaternion-based sliding mode controller that compensates for Coriolis torques from the reaction wheels is developed, along with a linear controller for performance comparison. Both controllers are implemented and evaluated in simulation. To bridge simulation and hardware, a three-axis hardware-in-the-loop testbed is built, integrating MATLAB/Simulink with the Robot Operating System (ROS) to enable three-dimensional testing of control algorithms. The testbed is used to test and verify the controllers. Detailed performance results are not provided in this excerpt.
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