{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/95273"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/95273","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Nonlinear attitude control of spacecraft with strain-actuated solar arrays","abstract":"This thesis presents a mathematical framework for precision attitude control of a spacecraft using the inertial coupling between the spacecraft and solar arrays. The spacecraft with solar arrays is modeled as a one degree of freedom cylinder (rigid body rotation) with flexible appendages (infinite-dimensional system). The equations of motion that describe system evolution are derived using the extend generalizations of the Lagrangian for infinite dimension systems. Precision attitude control is achieved by bending the flexible appendage using strain actuators. Global asymptotic convergence of the controller’s is proved using the Lyapunov direct method, which ensures that the control objectives of trajectory tracking and slewing are achieved. The Input-to-State stability of these controllers is used to generalize the control laws in terms of a variable that scales the stiffness term. The closed-loop system is simulated numerically for different values of the variable to verify stability. An experimental setup, that mimics a spacecraft with solar arrays is designed as a cylinder that is secured to a flexible beam using an interference fit. The strain actuation of the beam is achieved using piezoelectric actuators. The rotation of the cylinder and bending in beam are estimated using measurements from a Vicon motion capture system. The closed-loop system is tested in real-time to achieve controlled rotation of the cylinder.","abstract_html":"This thesis presents a mathematical framework for precision attitude control of a spacecraft using the inertial coupling between the spacecraft and solar arrays. The spacecraft with solar arrays is modeled as a one degree of freedom cylinder (rigid body rotation) with flexible appendages (infinite-dimensional system). The equations of motion that describe system evolution are derived using the extend generalizations of the Lagrangian for infinite dimension systems. Precision attitude control is achieved by bending the flexible appendage using strain actuators. Global asymptotic convergence of the controller’s is proved using the Lyapunov direct method, which ensures that the control objectives of trajectory tracking and slewing are achieved. The Input-to-State stability of these controllers is used to generalize the control laws in terms of a variable that scales the stiffness term. The closed-loop system is simulated numerically for different values of the variable to verify stability. An experimental setup, that mimics a spacecraft with solar arrays is designed as a cylinder that is secured to a flexible beam using an interference fit. The strain actuation of the beam is achieved using piezoelectric actuators. The rotation of the cylinder and bending in beam are estimated using measurements from a Vicon motion capture system. The closed-loop system is tested in real-time to achieve controlled rotation of the cylinder.","abstract_has_math":false,"creators":["Nakka, Yashwanth Kumar"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Aerospace Engineering","degree_department":null,"school":null,"contributors":["Chung, Soon-Jo","Allison, James T."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-03-01T15:45:59Z","date_published":"2017-03-01T15:45:59Z","updated_at":"2026-07-22T22:26:35Z","subjects":["Attitude control","Nonlinear control","Strain-actuated solar array","Lyapunov direct method","Piezoelectric material"],"languages":["en"],"rights":["Copyright 2016 Yashwanth Kumar Nakka"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/95273","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Chung, Soon-Jo","Allison, James T."]},{"key":"dc:creator","label":"Author","values":["Nakka, Yashwanth Kumar"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-03-01T15:45:59Z","2016-09-02","2016-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Aerospace Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Attitude control","Nonlinear control","Strain-actuated solar array","Lyapunov direct method","Piezoelectric material"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Yashwanth Kumar Nakka"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/95273"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This thesis presents a mathematical framework for precision attitude control of a spacecraft using the inertial coupling between the spacecraft and solar arrays. The spacecraft with solar arrays is modeled as a one degree of freedom cylinder (rigid body rotation) with flexible appendages (infinite-dimensional system). The equations of motion that describe system evolution are derived using the extend generalizations of the Lagrangian for infinite dimension systems. Precision attitude control is achieved by bending the flexible appendage using strain actuators. Global asymptotic convergence of the controller’s is proved using the Lyapunov direct method, which ensures that the control objectives of trajectory tracking and slewing are achieved. The Input-to-State stability of these controllers is used to generalize the control laws in terms of a variable that scales the stiffness term. The closed-loop system is simulated numerically for different values of the variable to verify stability. An experimental setup, that mimics a spacecraft with solar arrays is designed as a cylinder that is secured to a flexible beam using an interference fit. The strain actuation of the beam is achieved using piezoelectric actuators. The rotation of the cylinder and bending in beam are estimated using measurements from a Vicon motion capture system. The closed-loop system is tested in real-time to achieve controlled rotation of the cylinder.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-02-28 without embargo terms","The student, Yashwanth Kumar Nakka, accepted the attached license on 2016-09-01 at 15:57.","The student, Yashwanth Kumar Nakka, submitted this Thesis for approval on 2016-09-01 at 16:11.","This Thesis was approved for publication on 2016-09-02 at 16:23.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10138 on 2017-02-28 at 14:45:48","Made available in DSpace on 2017-03-01T15:45:59Z (GMT). No. of bitstreams: 2 NAKKA-THESIS-2016.pdf: 14359439 bytes, checksum: 7e7eb31d2d9d4bdcfa48a817ffa92c8c (MD5) LICENSE.txt: 4218 bytes, checksum: 01c787c64b8e5885dca2fce5a690b872 (MD5) Previous issue date: 2016-09-02"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Nonlinear attitude control of spacecraft with strain-actuated solar arrays"]}]}],"canonical_facts":{"dc:contributor":["Chung, Soon-Jo","Allison, James T."],"dc:creator":["Nakka, Yashwanth Kumar"],"dc:date":["2017-03-01T15:45:59Z","2016-09-02","2016-12"],"dc:description":["This thesis presents a mathematical framework for precision attitude control of a spacecraft using the inertial coupling between the spacecraft and solar arrays. The spacecraft with solar arrays is modeled as a one degree of freedom cylinder (rigid body rotation) with flexible appendages (infinite-dimensional system). The equations of motion that describe system evolution are derived using the extend generalizations of the Lagrangian for infinite dimension systems. Precision attitude control is achieved by bending the flexible appendage using strain actuators. Global asymptotic convergence of the controller’s is proved using the Lyapunov direct method, which ensures that the control objectives of trajectory tracking and slewing are achieved. The Input-to-State stability of these controllers is used to generalize the control laws in terms of a variable that scales the stiffness term. The closed-loop system is simulated numerically for different values of the variable to verify stability. An experimental setup, that mimics a spacecraft with solar arrays is designed as a cylinder that is secured to a flexible beam using an interference fit. The strain actuation of the beam is achieved using piezoelectric actuators. The rotation of the cylinder and bending in beam are estimated using measurements from a Vicon motion capture system. The closed-loop system is tested in real-time to achieve controlled rotation of the cylinder.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-02-28 without embargo terms","The student, Yashwanth Kumar Nakka, accepted the attached license on 2016-09-01 at 15:57.","The student, Yashwanth Kumar Nakka, submitted this Thesis for approval on 2016-09-01 at 16:11.","This Thesis was approved for publication on 2016-09-02 at 16:23.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10138 on 2017-02-28 at 14:45:48","Made available in DSpace on 2017-03-01T15:45:59Z (GMT). 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