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Graph Theory and Attitude Representations Read chapter Read first chapter

2023 | OriginalPaper | Chapter

9. Koopman-Operator-Based Attitude Dynamics and Control on SO(3)

Authors : Ti Chen, Jinjun Shan, Hao Wen

Published in: Distributed Attitude Consensus of Multiple Flexible Spacecraft

Publisher: Springer Nature Singapore

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Abstract

This chapter presents an attitude control method based on Koopman operator theory. A set of observables is discovered to represent the nonlinear attitude dynamics on SO(3) using an infinite-dimensional linear system. With the assumption of low angular velocities, a finite-dimensional linear system is obtained by removing the high-order terms. An attitude control synthesis method is developed on the basis of the linear optimal control algorithm for the reduced linear system. The proposed controller design method is compared with some classical nonlinear optimal controllers to show its advantages. Also, the leaderless attitude synchronization problem is solved with the help of the reduced linear system and the well-studied linear multi-agent system theory. Furthermore, a possible solution to the case with a high angular velocity is provided. Simulations and experiments are conducted to verify the effectiveness of the theory.

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previous chapter Continuous Leaderless Synchronization Control of Multiple Rigid Spacecraft on SO(3)
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Metadata
Title
Koopman-Operator-Based Attitude Dynamics and Control on SO(3)
Authors
Ti Chen
Jinjun Shan
Hao Wen
Copyright Year
2023
Publisher
Springer Nature Singapore
Book
Distributed Attitude Consensus of Multiple Flexible Spacecraft

Print ISBN: 978-981-19-4257-0

Electronic ISBN: 978-981-19-4258-7

Copyright Year: 2023

DOI
https://doi.org/10.1007/978-981-19-4258-7_9

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