MPC on manifolds with an application to the control of spacecraft attitude on SO(3)

DOI10.1016/J.AUTOMATICA.2016.10.022zbMATH Open1352.93035arXiv1509.08567OpenAlexW2963444849MaRDI QIDQ503190FDOQ503190

Authors: Uroš V. Kalabić, Rohit Gupta, S. Di Cairano, Anthony M. Bloch, Ilya Kolmanovsky 

Publication date: 11 January 2017

Published in: Automatica (Search for Journal in Brave)

Abstract: We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamics evolving on $mathbb{R}^n$ are preserved and we develop a design procedure for achieving similar properties. We also demonstrate that for discrete-time dynamics on manifolds with Euler characteristic not equal to 1, there do not exist globally stabilizing, continuous control laws. The MPC law is able to achieve global asymptotic stability on these manifolds, because the MPC law may be discontinuous. We apply the method to spacecraft attitude control, where the spacecraft attitude evolves on the Lie group SO(3) and for which a continuous globally stabilizing control law does not exist. In this case, the MPC law is discontinuous and achieves global stability.

Full work available at URL: https://arxiv.org/abs/1509.08567

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zbMATH Keywords

Lie groupsmanifoldsmodel predictive controlgeometric controlspacecraft attitude

Mathematics Subject Classification ID

Discrete-time control/observation systems (93C55) Variable mass, rockets (70P05) Geometric methods (93B27)

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Cited In (10)

• Spacecraft output feedback attitude control based on extended state observer and adaptive dynamic programming
• A geometric approach for the optimal control of difference inclusions
• The discrete-time geometric maximum principle
• Solving the discrete Euler-Arnold equations for the generalized rigid body motion
• Finite‐time attitude tracking control and vibration suppression for flexible spacecraft
• Explicit reference governor on \(SO(3)\) for torque and pointing constraint management
• Constrained control for systems on matrix Lie groups with uncertainties
• On controller design for systems on manifolds in Euclidean space
• Symmetry and motion primitives in model predictive control
• Necessary conditions for feedback stabilization and safety

Uses Software

• RICPAC

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