Controle de ganho escalonado para rotação e translação de espaçonaves usando quatérnios e síntese por otimização convexa

Luís Henrique de Marchi Guerini; Rafael da Silveira Castro

doi:10.20906/sbai.v1i1.2723

Luís Henrique de Marchi Guerini Grupo de Automação e Controle de Sistemas (GACS), Pontifícia Universidade Católica do Rio Grande do Sul, RS
Rafael da Silveira Castro Grupo de Automação e Controle de Sistemas (GACS), Pontifícia Universidade Catoólica do Rio Grande do Sul, RS

DOI: https://doi.org/10.20906/sbai.v1i1.2723

Keywords: Quasi-Linear Parameter Varying models, control with gain scheduling, nonlinear systems, rigid body dynamics, spacecrafts, quaternions, Linear Matrix Inequalities

Abstract

This work presents the development of a robust control design for spacecraft with six degrees of freedom (6-DOF), considering nonlinear dynamics, looking for exponential convergence to an objective location and orientation. To represent the rotation and translation movements, quaternions and Newton-Euler differential equations will be used. The nonlinear system will be presented in the quasi-LPV (Linear Parameter Varying) form under a gain scheduled control law, with the synthesis of the gain matrices obtained by means of convex optimization with linear matrix constraints.