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Tsiotras, Panagiotis

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    Adaptive Position and Attitude-Tracking Controller for Satellite Proximity Operations Using Dual Quaternions
    (Georgia Institute of Technology, 2015) Filipe, Nuno ; Tsiotras, Panagiotis
    This paper proposes a nonlinear adaptive position and attitude tracking controller for satellite proximity operations between a target and a chaser satellite. The controller requires no information about the mass and inertia matrix of the chaser satellite, and takes into account the gravitational acceleration, the gravity-gradient torque, the perturbing acceleration due to Earth's oblateness, and constant - but otherwise unknown - disturbance forces and torques. Sufficient conditions to identify the mass and inertia matrix of the chaser satellite are also given. The controller is shown to ensure almost global asymptotical stability of the translational and rotational position and velocity tracking errors. Unit dual quaternions are used to simultaneously represent the absolute and relative attitude and position of the target and chaser satellites. The analogies between quaternions and dual quaternions are explored in the development of the controller.
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    Pose-Tracking Controller for Satellites with Time-Varying Inertia
    (Georgia Institute of Technology, 2014-08) Filipe, Nuno ; Holzinger, Marcus J. ; Tsiotras, Panagiotis
    Satellite proximity operations have been identified by NASA and the USAF as a crucial technology that could enable a series of new missions in space. Such missions would require a satellite to simultaneously and accurately track time-varying relative position and attitude profiles. Moreover, the mass and moment of inertia of a satellite are also typically time- varying, which makes this problem even more challenging. Based on recent results in dual quaternions, a nonlinear adaptive position and attitude tracking controller for satellites with unknown and time-varying mass and inertia matrix is proposed. Dual quaternions are used to represent jointly the position and attitude of the satellite. The controller is shown to ensure almost global asymptotic stability of the combined translational and rotational position and velocity tracking errors. Moreover, sufficient conditions on the reference motion are provided that guarantee mass and inertia matrix identification. The controller compensates for the gravity force, the gravity-gradient torque, Earth's oblateness, and unknown constant disturbance forces and torques. The proposed controller is especially suited for satellites with relatively high and quick variations of mass and moment of inertia, such as highly maneuverable small satellites equipped with relatively powerful thrusters and control moment gyros.
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    Pose-Tracking Controller for Satellites with Time-Varying Inertia
    (Georgia Institute of Technology, 2014-06) Filipe, Nuno ; Holzinger, Marcus J. ; Tsiotras, Panagiotis
    Satellite proximity operations have been identified by NASA and the USAF as a crucial technology that could enable a series of new missions in space. Such missions would require a satellite to simultaneously and accurately track time-varying relative position and attitude profiles. Moreover, the mass and moment of inertia of a satellite are also typically time-varying, which makes this problem even more challenging. Based on recent results in dual quaternions, a nonlinear adaptive position and attitude tracking controller for satellites with unknown and time-varying mass and inertia matrix is proposed. Dual quaternions are used to represent jointly the position and attitude of the satellite. The controller is shown to ensure almost global asymptotic stability of the combined translational and rotational position and velocity tracking errors. Moreover, sufficient conditions on the reference motion are provided that guarantee mass and inertia matrix identification. The controller compensates for the gravity force, the gravity-gradient torque, Earth's oblateness, and unknown constant disturbance forces and torques. The proposed controller is especially suited for satellites with relatively high and quick variations of mass and moment of inertia, such as highly maneuverable small satellites equipped with relatively powerful thrusters and control moment gyros.
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    Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions
    (Georgia Institute of Technology, 2013-08) Filipe, Nuno ; Tsiotras, Panagiotis
    In this paper, we propose a nonlinear adaptive position and attitude tracking controller for a rigid body that requires no information about the mass and inertia matrix of the body. Moreover, we provide su cient conditions on the reference trajectory that guarantee mass and inertia matrix identification. The controller is shown to be almost globally asymptotically stable and can handle large error angles and displacements. One of the novelties of this paper is the use of unit dual quaternions to represent the position and attitude of the rigid body. We show that dual quaternions can be used to extend existing attitude-only controllers based on quaternions into combined position and attitude controllers with similar properties.
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    Adaptive Position and Attitude Tracking Controller for Satellite Proximity Operations using Dual Quaternions
    (Georgia Institute of Technology, 2013-08) Filipe, Nuno ; Tsiotras, Panagiotis
    In this paper, we propose a nonlinear adaptive position and attitude tracking controller for satellite proximity operations. This controller requires no information about the mass and inertia matrix of the satellite, and takes into account the gravitational force, the gravity-gradient torque, the perturbing force due to Earth’s oblateness, and other constant – but otherwise unknown – disturbance forces and torques. We give sufficient conditions on the reference motion for mass and inertia matrix identification. The controller is shown to be almost globally asymptotically stable and can handle large error angles and displacements. Unit dual quaternions are used to simultaneously represent the absolute and relative attitude and position of the satellites, resulting in a compact controller representation.
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    Simultaneous Position and Attitude Control Without Linear and Angular Velocity Feedback Using Dual Quaternions
    (Georgia Institute of Technology, 2013-06) Filipe, Nuno ; Tsiotras, Panagiotis
    In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively straightforward to extend existing attitude controllers based on quaternions to combined position and attitude controllers based on dual quaternions. We show this by developing setpoint nonlinear controllers for the position and attitude of a rigid body with and without linear and angular velocity feedback based on existing attitude-only controllers with and without angular velocity feedback. The combined position and attitude velocity-free controller exploits the passivity of the rigid body dynamics and can be used when no linear and angular velocity measurements are available.
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    Rigid body motion tracking without linear and angular velocity feedback using dual quaternions
    (Georgia Institute of Technology, 2013-06) Filipe, Nuno ; Tsiotras, Panagiotis
    This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position and attitude tracking controllers based on dual quaternions can be developed with relatively low effort from existing attitude-only tracking controllers based on quaternions. We show this by developing an almost globally asymptotically stable nonlinear controller capable of simultaneously following time-varying position and attitude profiles without linear and angular velocity feedback based on an existing attitude-only tracking controller without angular velocity feedback.