Document Type : Original Article

Authors

1 department of Electrical Engineering, Iran University of Science & Technology

2 School of Electrical Engineering, Iran University of Science & Technology

3 Assistant Professor, Iran Space Research Center

4 Department of Electrical Engineering, Iran University of Science & Technology, Tehran

Abstract

In this paper, a satellite attitude control system (SACS) based on tube-based robust model predictive control (TMPC) methodology is designed which is robust to bounded disturbances. All Euler angles and their derivatives are ensured not to deviate more than a determined limit under those disturbances with known bounds. It is conducted based on the concept of the minimal robust positive invariant (mRPI) set. Actuators and Euler variables constraints could be considered in the SACS. The dynamics are guaranteed to be robustly stable. Given that the satellite dynamics consists of a great number of states, it is not possible to implement a TMPC scheme on the SACS in real-time. The number of satellite system states in this article is 6. Which has practically increased the volume of calculations. In order to solve this challenge, the proposed solution of tube estimation is presented to reduce the volume of satellite calculations. With this estimation, the process of increasing the volume of computations for tube-based robust predictive control design for satellite is stopped. For the desired system, simulation has been done in the presence of uncertain and limited disturbance. The results show satellite attitude control by reducing the amount of computation when designing a tube-based robust Model predictive control. 

Keywords

Main Subjects

##K. Alexis, G. Nikolakopoulos, and A. Tzes, “Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances,” Control Eng. Pract., vol. 19, no. 10, pp. 1195–1207, 2011.##
##J. Yang, S. Li, X. Chen, and Q. Li, “Disturbance rejection of dead-time processes using disturbance observer and model predictive control,” Chem. Eng. Res. Des., vol. 89, no. 2, pp. 125–135, 2011.##
##W. Langson, I. Chryssochoos, and S. V Raković, “Robust model predictive control using tubes,” Automatica, vol. 40, pp. 125–133, 2004.##
##D.Q. Mayne, M.M. Seron and S.V. Raković, “Robust model predictive control of constrained linear systems with bounded disturbances”, Automatica Vol.41, PP 219-224, 2005.##
##S.V. Raković, D.Q. Mayne, “A simple tube controller for efficient robust model predictive control of constrained linear discrete time systems subject to bounded disturbances”, The International Federation of Automatica Control, Luxenberg, Austria, July 2005.##
##Bayer, Florian A., Matthias A. Müller, and Frank Allgöwer. "Tube-based robust economic model predictive control." Journal of Process Control, Vol.24, No.8, pp. 1237-1246, 2014.##
##Bayer, Florian A., Matthias A. Müller, and Frank Allgöwer. "On optimal system operation in robust economic MPC." Automatica, Vol.88, pp. 98-106, 2017.##
## Mammarella, Martina, et al. "Attitude control of a small spacecraft via tube-based model predictive control." Journal of Spacecraft and Rockets, Vol.56, No.6, pp. 1662-1679, 2019.##
## Kim, Jongbum, Youeyun Jung, and Hyochoong Bang. "Linear time-varying model predictive control of magnetically actuated satellites in elliptic orbits." Acta Astronautica, Vol.151, pp. 791-804, 2018.##
##Pirouzmand, Fateme, and Nemat Ollah Ghahramani. "Robust model predictive control based on MRAS for satellite attitude control system." The 3rd International Conference on Control, Instrumentation, and Automation. IEEE, 2013.##
##Villanueva, Mario Eduardo, et al. "A set-theoretic generalization of dissipativity with applications in Tube MPC." Automatica, Vol.122, 2020.##
##Sebghati, Ashkan, and Saeed Shamaghdari. "Tube‐based robust economic model predictive control with practical and relaxed stability guarantees and its application to smart grid." International Journal of Robust and Nonlinear Control, Vol.30, No.17, pp. 7533-7559, 2020.##
## S. V. Rakovic´, E. C. Kerrigan, K. I. Kouramas, and D. Q. Mayne. "Invariant approximations of the minimal robust positively invariant set." IEEE Transactions on automatic control, Vol.50, No.3, pp. 406-410, 2005.##
## M.J. SIDI, Spacecrafts Dynamics and Control: A Practical Engineering Approach, Cambridge Areospace, Series 7, New York, 1997.##
##ف. پیروزمند، ن. قهرمانی و م. ر. عاروان، "طراحی کنترل­کننده پیش­بین مقاوم با استفاده از نامساویهای ماتریسی خطی برای سیستم کنترل وضعیت ماهواره،" مجله مهندسی برق دانشگاه تبریز، جلد 44، شماره 4، صفحات 10-21، 1393.##
##م. نوابی، پ. زارعی، "کنترل وضعیت ماهواره­ی کوچک دارای کمبود عملگر با استفاده از کنترل پیشبین مدل،" هجدهمین کنفرانس انجمن هوافضای ایران، 1398.##