Spacecraft attitude stabilization using nonlinear delayed actuator control with an inverse dynamics approach

Morad Nazari, Ehsan Samiei, Eric A. Butcher, Hanspeter Schaub

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


The dynamics of a rigid body with nonlinear delayed feedback control are studied in this paper. It is assumed that the time delay occurs in one of the actuators while the other one remains is delay-free. Therefore, a nonlinear feedback controller using both delayed and non-delayed states is sought for the controlled system to have the desired linear closed-loop dynamics which contains a time-delay term using an inverse dynamics approach. First, the closed-loop stability is shown to be approximated by a second order linear delay differential equation (DDE) for the MRP attitude coordinate for which the Hsu-Bhatt-Vyshnegradskii stability chart can be used to choose the control gains that result in a stable closed-loop response. An analytical derivation of the boundaries of this chart for the undamped case is shown, and subsequently the Chebyshev spectral continuous time approximation (ChSCTA) method is used to obtain the stable and unstable regions for the damped case. The MATLAB dde23 function is implemented to obtain the closed-loop response which is in agreement with the stability charts, while the delay-free case is shown to agree with prior results.

Original languageEnglish (US)
Title of host publicationSpaceflight Mechanics 2012 - Advances in the Astronautical Sciences
Subtitle of host publicationProceedings of the 22nd AAS/AIAA Space Flight Mechanics Meeting
Number of pages19
StatePublished - 2012
Event22nd AAS/AIAA Space Flight Mechanics Meeting - Charleston, SC, United States
Duration: Feb 2 2012Feb 2 2012

Publication series

NameAdvances in the Astronautical Sciences
ISSN (Print)0065-3438


Other22nd AAS/AIAA Space Flight Mechanics Meeting
Country/TerritoryUnited States
CityCharleston, SC

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science


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