Thesis Presentation

Attitude Control of Satellite
Subham Dey
Birla Institute of Technology, Mesra

subhamdey9983@gmail.com
Guide: Dr. Vijaya Laxmi and Dr. Dipak Kumar Giri
May 14,2019
Subham Dey (BIT-Mesra) Thesis Presentation May 14,2019 1 / 65

Objectives
Designing attitude controllers for satellite system which ensures

convergence of system states to their steady state values in finite
time.
Implementing attitude control algorithm for a satellite system
actuated by hybrid actuators revolving in a circular orbit.
Designing fixed time attitude controllers for the above mentioned
systems.
Extension of above algorithms to incorporate fault in the actuators.

Motivation
Attitude control for satellite is a problem which is of utmost

significance given its wide range of applications in the aerospace
community.
Fixed and finite time algorithms are implemented because a large
number of control algorithms in the literature ensures asymptotic
stability which is of no practical importance.
Hybrid actuator actuated satellite is a concept which is not widely
explored in the literature.
In real-time scenarios, fault do occur and therefore controllers should
be fault-tolerant in nature thereby improving the reliability of the
entire system.

Literature Review
1 Venkataraman, S.T. and Gulati, S., 1991, June. Terminal sliding
modes: a new approach to nonlinear control synthesis. In Fifth
International Conference on Advanced Robotics’ Robots in
Unstructured Environments (pp. 443-448). IEEE.
2 Feng, Y., Yu, X. and Man, Z., 2002. Non-singular terminal sliding
mode control of rigid manipulators. Automatica, 38(12),
pp.2159-2167.
3 Giri, D.K. and Sinha, M., 2014. Magnetocoulombic attitude control
of Earth-pointing satellites. Journal of Guidance, Control, and
Dynamics, 37(6), pp.1946-1960.
4 Giri, D.K., Sinha, M. and Kumar, K.D., 2015. Fault-tolerant attitude
control of magneto-coulombic satellites. Acta Astronautica, 116,
pp.254-270.
5 Giri, D.K. and Sinha, M., 2016. Finite-time continuous sliding mode
magneto-coulombic satellite attitude control. IEEE Transactions on
Aerospace and Electronic Systems, 52(5), pp.2397-2412.
Overview
1 Attitude Control Basics.

2 Sliding Mode Control.
3 Attitude Parameterization Techniques.
4 Attitude Control of Satellites Actuated by Hybrid Actuators.
Magnetic Actuators.
Magneto-Coulombic Actuators.
Fixed-Time Non-Singular Terminal Sliding Mode Control.
Proportional Derivative Control.
5 Attitude Control of Satellites without Actuators
Time-Varying Non-Singular Terminal Sliding Mode Control.
Fixed-Time Super-Twisting Sliding Mode Control.
Adaptive Non-singular Fast-Terminal Sliding Mode Control.

Attitude Control Basics
Definition1
The term ’attitude’ refers to relative orientation of a body with respect to
an inertial reference frame. Therefore in order to control the attitude three
different subsystems are required.
Sensors.
Actuators.
Control Algorithm.
1
https://goes.gsfc.nasa.gov/text/databook/section11.pdf
Contd.
Why Attitude Control?

Critical importance in space-station docking.
Earth observation, pointing and slewing operations.
Formation-flying applications.
Control Algorithms used for attitude control:

Geometric Control
H-∞ Control
Fuzzy Control
Passivity Based Control

Sliding Mode Control
SMC is a robust control technique used for design of controllers for

systems subjected to parametric uncertainties and disturbances.
SMC design technique involves the following steps:
Selection of a sliding surface.
Designing high speed switching control law which drives the system
trajectories on to the sliding surface.
Once on the sliding surface the system is immune to certain class of
uncertainties.
SMC is also a model order reduction technique.

Attitude Parameterization Techniques
A large number of attitude parameterization techniques exists in the

literature.2
2
Chaturvedi, N.A., Sanyal, A.K. and McClamroch, N.H., 2011. Rigid-body attitude
control. IEEE control systems magazine, 31(3), pp.30-51.
doi:10.1109/MCS.2011.940459
Magnetic Actuators
Salient features:
Three coils are placed along the directions of principal axes of inertia.
Torque is produced by the interaction of current flowing through the
coils with that of Earth’s local orbital magnetic field.
Advantages:
They are cheaper.
They are lighter in weight.
They are energy-efficient.
They donot contain any moving parts therefore they are highly
reliable.

Contd.
Figure: BUAA-SAT3
T̃mcoil = m̃coil × B̃(t) (1)

m̃coil = S(B̃(t))−1 ũ(t) (2)
In Eq.(1), m̃coil denotes the magnetic moment of coils through which
current flows and B̃(t) denotes magnetic field in the orbit.In Eq.(2), ũ(t)
is the ideal control torque.
5
Beihang University School of Astronautics
Contd.
Using principles of pseudo-inverse Eq.(40) can be written as Eq.(41).
S(B̃(t))T
m̃coil = 2 ũ(t) (3)
B̃(t)

The expression of magnetic control torque(T̃mcoil ) is finally given in

Eq.(42).
S(B̃(t))S(B̃(t))T
T̃mcoil = 2 ũ(t) (4)
B̃(t)

T̃mcoil = S(b̃(t))S(b̃(t))T ũ(t) (5)

Magneto-Coulombic Actuators
Figure: Magneto-Coulombic Actuator

Contd.
Why?
To effectively utilize the charges which accumulate on the satellite
surface.
Excessive charge accumulation leads to increased potential which has
detrimental effects.
Problems related to telemetry.
Control malfunctioning.
Complete failure of satellite integrated circuits.
Damage to satellite surface.
Lorentz force:
F̃ = Q[ṽ × B̃(t)] (6)
T̃coul = r˜ × Q[ṽ × B̃(t)] (7)
T̃coul = M̃ × [ṽ × B̃(t)] (8)

Contd.
  
rx 0 0 Qx
T̃coul = S(ṽ × B̃(t))  0 ry 0   Qy  (9)
0 0 rz Qz
In Eq.(47), S(ṽ × B̃(t)) is given as Eq.(48).
 
0 (vx By − vy Bx ) −(vz Bx − vx Bz )
S(ṽ × B̃(t)) =  −(vx By − vy Bx ) 0 (vy Bz − vz By ) 
(vz Bx − vx Bz ) −(vy Bz − vz By ) 0
  (10)
rx 0 0
D̃ =  0 ry 0  (11)
0 0 rz
 
Qx
Q̃ =  Qy  (12)
Qz
Contd.
The charge distribution matrix(Q̃) is given in Eq.(51).
S T (ṽ × B̃(t))
Q̃ = D̃ −1 2 ũ(t) (13)
ṽ × B̃(t)

T̃coul = S(σ̃)S(σ̃)T ũ(t) (14)

So, for a hybrid actuator the total control torque is
T̃ = T̃mag + T̃coul (15)

Attitude Kinematics
Satellite Attitude Kinematics: There are mainly three reference frame
under consideration.
Inertial Reference Frame.
Body Reference Frame.
Orbital Reference Frame.
ω̃r = ω̃ − ω̃0 (16)
ω̃0 = −ω0 ẽzb (17)
In Eq.(54), ω̃r , ω̃, ω˜0 denotes relative angular velocity, angular velocity
and orbital angular velocity all in inertial reference frame.
ẽzb denotes the third column of direction cosine matrix A(q̃).
 2
(q4 + q12 − q22 − q32 )

2(q1 q2 + q4 q3 ) 2(q1 q3 − q4 q2 )
A(q̃) =  2(q1 q2 − q4 q3 ) (q42 − q12 + q22 − q32 ) 2(q2 q3 + q4 q1 ) 
2(q1 q3 + q4 q2 ) 2(q2 q3 − q4 q1 ) (q4 − q12 − q22 + q32 )
2
(18)
Contd.
The attitude kinematics is given by:
q̃˙ = R̃(q̃)ω˜r (19)

 
q4 −q3 q2
1  q3 q4 −q1 
R̃(q̃) =   (20)
2 −q2 q1 q4 
−q1 −q2 −q3
Attitude is parameterized with quaternions.
q̃ = [q1 , q2 , q3 , q4 ]T (21)
q̃ = [qr , q4 ]T (22)
Remarks-1
q12 + q22 + q32 + q42 = 1 (23)
Attitude Dynamics
Attitude Dynamics:
J ω̃˙ = S(ω̃)J ω̃ + 3ω02 S(J ẽxb )ẽxb + T̃coil + T̃dist (24)
Figure: Hybrid Actuator

Magnetic Field
Figure: Magnetic Field

Fixed-Time Non-Singular Terminal Sliding Mode Control
![ q1 ]
p1
1
s̃ = x̃1 + m p x̃2 (25)
( n 1 )−( q1 )
α1 diag ((x̃1 ) 1 1 ) + diag (β1 )
The expression of equivalent and sliding control can be obtained from the
expression of sliding surface.

Contd.
Figure: Closed-Loop Block Diagram

Contd.
Table: Initial values of quaternions, angular velocity, charge limit and magnetic
moments for both FNTSM control.
S.No Initial value of angular velocity(ω̃)rad/sec Initial value of quaternions(q̃) Charge limit(Q̃)(C) Magnetic moment limit(m̃)A-m2
a [0.001 0.001 0.001]T [0.860 0.080 0.402 0.303]T 0.004 40
b [0.003 0.003 0.003]T [0.860 0.080 0.402 0.303]T 0.008 80
c [0.005 0.005 0.005]T [0.860 0.080 0.402 0.303]T 0.022 220
The magnitude of constants are considered as

α1 = 0.0009, α2 = 0.0009, β1 = 0.0009, β2 = 0.0009, m1 = 9,
n1 = 5, p1 = 7, q1 = 9, m2 = 5, n2 = 3, p2 = 5 and q2 = 9.
T̃d = 0.1 × 10−5 [1 1 1]T + 0.2 × 10−5 [sin(ω0 t) sin(ω0 t +
π/4) sin(ω0 t − π/4)]T N-m.
The value of γ is taken as 0.001 and δ is taken as 0.1 for all cases
considered in the simulations section.
Results
Figure: Plots of quaternions for Case-a.

Figure: Plots of angular-rates for Case-a.

Figure: Plots of control-inputs for Case-a.

Contributions
The satellite system is actuated by a combination of magnetic and

magneto-Coulombic system which formulates the two components of
the hybrid actuator formulation.The hybrid actuator formulation
overcomes the underactuation problem which exists when the
actuators are used individually thereby ensuring three axis
controllabilty at every instant of time.
Finite-time stability is proved for the satellite system actuated by
hybrid actuators under the influence of designed ideal control law and
the convergence time is found to be independent of initial conditions.

Fault-tolerant attitude control of satellites actuated by
hybrid actuators
The expression of torque contributed by magnetic actuators is given by:

T̃mag = B̃(t) S(b̃(t))m̃ (26)

Considering two vectors p̃1 and p̃2 which are mutually orthogonal to each
other and lies in a plane perpendicular to the magnetic torque B̃(t) as,
T
p̃1 = −by bx 0 (27)
T
(bx2 + by2 )

p̃2 = −bz bx −by bz (28)

Contd.
The magnetic torque components which are broken along the p̃1 and p̃2 is
the same as the components of ũ along them.
p̃1T T̃mag = p̃1T ũ (29)

p̃2T T̃mag = p̃2T ũ (30)
The above equations can be written in a compact form as

   
mx ux
(bx2 + by2 ) −by

bx 0

−bx bz −by bz

B̃(t)
 my =  uy (31)
(bx2 + by2 )

by −bx 0 −bz bx −by bz
mz uz
Using the concept of pseudo-inverse of matrix,

   
mx ux
 my  = S(
b̃(t)) 
uy  (32)
B̃(t) uz

mz

Contd.
In case of fault of magnetic actuator along the mz axis, Eq.(69) can be

written as,
 

1
−1
−by bx 0
ux
mx −bx bz −by bz  uy
= (33)
(bx2 + by2 )

my −bx −bz bx −by bz

by
B̃(t) uz

The expression of magnetic torque (T̃mag ), in case of failure of a magnetic

actuator along a certain direction is given by,
 
1
−1
−by bx 0
ux
−bx bz −by bz

T̃mag ,fail = B̃(t) S(b̃(t))
 uy (34)
(bx2 + by2 )

−bx −bz bx −by bz

by
B̃(t) uz

T
= S(b̃(t))S(b̃(t)) ũ (35)
= T̃mag (36)

Results
Table containing initial conditions of angular velocity, quaternions, charge

limits and magnetic moments.

Contd.

Contributions
Re-configurable technique ensures that the control torque remains

unchanged despite failures in magnetic and magneto-Coulombic
actuators along a single axis.
The designed control algorithm ensures asymptotic stability of the
system.

Attitude Control Without Actuators
Attitude kinematics in MRP parameters is given by:
ρ̃˙ = G (ρ̃)ω̃ (37)
1 + ρ21 − ρ22 − ρ23

 
2(ρ1 ρ2 − ρ3 ) 2(ρ1 ρ3 + ρ2 )
G (ρ̃) = 0.25  2(ρ2 ρ1 + ρ3 ) 2 2
1 − ρ1 + ρ2 − ρ3 3 2(ρ2 ρ3 − ρ1 ) 
2(ρ3 ρ1 − ρ2 ) 2(ρ3 ρ2 + ρ1 ) 1 − ρ21 − ρ22 + ρ23
(38)
Attitude Dynamics:
˜
J ω̃˙ = −S(ω̃)J ω̃ + ũ(t) + d(t) (39)
In the above equations, J denotes the moment of inertia matrix. S(ω̃) is a

skew-symmetric matrix of the form given in Eq.(40).

Contd.
 
0 −ω3 ω2
S(ω̃) =  ω3 0 −ω1  (40)
−ω2 ω1 0
The spacecraft attitude dynamics in Lagrangian form is given by Eq.(41).
M(ρ̃)ρ̃¨ + C (ρ̃, ρ̃)

˙ ρ̃˙ = τ̃ + τ̃ext (41)

Time-Varying Sliding Mode Control
The non-singular terminal sliding surface which is modified to formulate

the time-varying sliding surface is given by:
r /r1
s̃ = x̃1 + m̃−1 x̃22 (42)
The time-varying sliding surface under consideration is given by:

˙
s̃(t) = x̃1 + λ̃(t) + m̃−1 (x̃2 + λ̃(t))r2 /r1
(43)
The constants r1 and r2 satisfies the following condition given below:
1 < r2 /r1 < 2 (44)

Contd.
The time-varying function which is embedded in the sliding surface is

given by: (
p̃e (t−tn )/tn + q̃(t 2 + tn2 ) t ≤ tn
λ̃(t) = (45)
0 t > tn
In Eq.(16), tn is a measure of switching time.The expression of control
input ũ(t) is obtained using principles of SMC theory.
˙
ũ(t) = −g (x̃)−1 (f (x̃) + m̃(r1 /r2 )(x̃2 + λ̃(t))2−r2 /r1 ¨ + ηsign(s̃)) (46)
+ λ̃(t)

Contd.
Control Algorithm:
Step-1: Specify convergence time tf .
Step-2: Specify switching time tn .
Step-3: Specify constants r2 , r1 and η.
Step-4: Calculate p̃, q̃ and m̃.
Step-5: Calculate the control input ũ(t).
Simulations:
The inertia matrix J = diag ([20, 21, 22])kg-m2 .
˜ is considered as
The disturbance d(t)
0.01[0.62sin(t), 0.79cos(1.5t), 1.03(sin(2t) + 1)]T
The constant r2 /r1 =1.1818.
The value of η is considered as 0.05.

Results
Case-a:tf = 3sec.
Case-b:tf = 6sec.
Case-c:tf = 10sec.

Plots of attitude
3sec 6sec 10sec

0.15 0.15 0.15
0.1 0.1 0.1

ρ1
ρ1
ρ1
0.05 0.05 0.05
0 0 0
-0.05 -0.05 -0.05

0 5 10 15 0 5 10 15 0 5 10 15
0.3 0.3 0.3
0.2 0.2 0.2

ρ2
ρ2
ρ2
0.1 0.1 0.1
0 0 0
-0.1 -0.1 -0.1

0 5 10 15 0 5 10 15 0 5 10 15
0.25 0.25 0.25
0.2 0.2 0.2
0.15 0.15 0.15

ρ3
ρ3
ρ3
0.1 0.1 0.1
0.05 0.05 0.05
0 0 0
0 5 10 15 0 5 10 15 0 5 10 15
Time(sec) Time(sec) Time(sec)
Case-a Case-b Case-c

Plots of angular rates
3sec 6sec 10sec

0.1 0.1 0.1
ω 1 (rad/sec)
ω 1 (rad/sec)
ω 1 (rad/sec)
0.05
0 0.05
0
-0.1 0
-0.05
-0.2 -0.05
-0.1
-0.3 -0.15 -0.1

0 5 10 15 0 5 10 15 0 5 10 15
0.2 0.1 0.1

ω 2 (rad/sec)
ω 2 (rad/sec)
ω 2 (rad/sec)
0 0
0
-0.2 -0.1
-0.1
-0.4 -0.2
-0.2
-0.6 -0.3
-0.8 -0.4 -0.3

0 5 10 15 0 5 10 15 0 5 10 15
0.2 0.1 0.1

ω 3 (rad/sec)
ω 3 (rad/sec)
ω 3 (rad/sec)
0.05
0 0
0
-0.2 -0.1
-0.05
-0.4 -0.2
-0.1
-0.6 -0.3 -0.15

0 5 10 15 0 5 10 15 0 5 10 15
Case-a Case-b Case-c

Plots of control input

Plots of NTSM control input
0.15 0.1 1
ω 1 (rad/sec)
0
0.1 0.05
u1 (N-m)
-1
ρ1
0.05 0
-2
0 -0.05
-3
-0.05 -0.1 -4
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
0.3 0.1 4
ω 2 (rad/sec)
0.2 0 2
u2 (N-m)
ρ2
0.1 -0.1 0
0 -0.2 -2
-0.1 -0.3 -4
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25
0.3 0.1 2
ω 3 (rad/sec)
0.2 0 0
u3 (N-m)
ρ3
0.1 -0.1 -2
0 -0.2 -4
-0.1 -0.3 -6
0 5 10 15 20 25 0 5 10 15 20 25 0 5 10 15 20 25

Tracking case
Plots of tracking angular velocity

Absolute errors in the attitude and angular velocity at pre-specified
convergence times for attitude stabilization.
Convergence time(tf ) |ρe1 | |ρe2 | |ρe3 |

3 sec 0.0014 0.0043 0.0026
6 sec 0.0009 0.0013 0.0007
10 sec 0.0008 0.0017 0.0012
Convergence time(tf ) |ωe1 | |ωe2 | |ωe3 |
3 sec 0.0073 0.02 0.0134
6 sec 0.0040 0.0098 0.0067
10 sec 0.0029 0.0060 0.0039

Contributions
The control algorithm ensures global robustness to disturbances by

forcing the system trajectories to evolve on the sliding surface for all
periods of time.
The control algorithm ensures finite time convergence at pre-specified
convergence time.
The algorithm for calculating p̃, q̃, m̃ bypasses the parameter tuning
or gain tuning procedure to a certain extent which is of utmost
importance in any control design procedure.

Fixed-time Super-twisting Sliding Mode Control
The control algorithm is constituted as

Z t
ω̃(t) p−1 ω̃(s)
ũ1 (t) = −p1 1 − p2 ω̃(t)kω̃(t)k − α1 ds (47)
kω̃(t)k 2 t0 kω̃(s)k
where p1 , p2 and α1 ∈ <+ . The constant p > 1.

Assumption 1: The external disturbance is assumed to be bounded and
satisfies the Lipschitz condition.
√ 1
1 2( n) 2 M1
Tfixed ≤( p−1
+ )(1 + √ ) (48)
p2 (p − 1) p1 m1 (1 − p2α 1
)
1

Results
Figure: Plots of angular rates for fixed-time super-twisting sliding mode control.

Figure: Plots of control input for fixed-time super-twisting sliding mode control.

Contributions
A continuous fixed-time super-twisting sliding mode control algorithm

is implemented for stabilization of angular rates of a satellite system.

Adaptive non-singular fast terminal sliding mode control
The adaptive non-singular fast terminal sliding mode control is given by:
s̃ = x̃1 + k1 | x̃1 |α sign(x̃1 ) + k2 | x̃2 |β sign(x̃2 ) (49)
where
k1 and k2 are positive constants.
1< β <2 and α > β.
The expression of control input is given as,
1
ũeq (t) = −g (x̃)−1 (f (x̃) − | x˜2 |2−β (1 + αk1 | x˜2 |α−1 )sign(x̃2 )) (50)
βk2
ũsc (t) = −g (x̃)−1 (−k s̃ − (a0 + a1 | x˜1 | +a2 | x˜2 | +η)sign(s̃)) (51)

Contd.
â˙ 0 = µ0 | s̃ || x̃2 |β−1 (52)

â˙ 1 = µ1 | s̃ || x̃1 || x̃2 |β−1 (53)
â˙ 2 = µ2 | x̃2 |β (54)

Results
Plots of attitude
Attitude
0.15
0.1
ρ1
0.05
-0.05
0 1 2 3 4 5 6 7 8 9 10
0.4
0.3
ρ2
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
0.3
0.2
ρ3
0.1
-0.1
0 1 2 3 4 5 6 7 8 9 10
Time(sec)

Results
Plots of angular rates
Angularrates
0.2
ω 1 (rad/sec)
-0.2
-0.4
-0.6
-0.8
0 1 2 3 4 5 6 7 8 9 10
0.5
ω 2 (rad/sec)
-0.5
-1
-1.5
-2
0 1 2 3 4 5 6 7 8 9 10
0.5
ω 3 (rad/sec)
-0.5
-1
-1.5
0 1 2 3 4 5 6 7 8 9 10
Time(sec)

Results
Plots of adaptive control
Control
200
0
u1 (N-m)
-200
-400
-600
0 1 2 3 4 5 6 7 8 9 10
500
0
u2 (N-m)
-500
-1000
-1500
0 1 2 3 4 5 6 7 8 9 10
500
0
u3 (N-m)
-500
-1000
-1500
0 1 2 3 4 5 6 7 8 9 10
Time(sec)

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15 H. Schaub, G. G. Parker, and L. B. King, Challenges and Prospects of
Coulomb Spacecraft Formations, Journal of Astronautical Sciences,
Vol. 52, Nos. 12, 2004, pp. 169193.
16 D. K. Giri and M. Sinha, Magnetocoulombic Attitude Control of
Earth-Pointing Satellites, Journal of Guidance, Control, and
Dynamics, Vol. 37, No. 6 (2014), pp. 1946-1960.
17 X. Huang and Y. Yan, Fully Actuated Spacecraft Attitude Control via
the Hybrid Magnetocoulombic and Magnetic Torques, Journal of
Guidance, Control, and Dynamics, Vol. 40, No. 12 (2017), pp.
3358-3360.
18 Boukattaya, M., Mezghani, N. and Damak, T., 2018. Adaptive
nonsingular fast terminal sliding-mode control for the tracking
problem of uncertain dynamical systems. ISA transactions, 77,
pp.1-19.
19 Mondal, S. and Mahanta, C., 2014. Adaptive second order terminal
sliding mode controller for robotic manipulators. Journal of the
Franklin Institute, 351(4), pp.2356-2377.
20 Qiao, L. and Zhang, W., 2018. Adaptive second-order fast
nonsingular terminal sliding mode tracking control for fully actuated
autonomous underwater vehicles. IEEE Journal of Oceanic
Engineering, (99), pp.1-23.

Publications
S. Dey, D. K. Giri, V. Laxmi and A. K. Ghosh, ”Time-Varying

Non-Singular Terminal Sliding Mode Attitude Control of Reusable
Launch Vehicle”, 15th International Conference on Control,
Automation, Robotics and Vision (NTU Singapore).
S. Dey, D. K. Giri and V. Laxmi, ”Time-Varying Non-Singular
Terminal Sliding Mode Attitude Control of Satellites”, Indian Control
Conference (ICC), New-Delhi, India, Jan. 9-11, 2019.
S. Dey, D.K. Giri and V. Laxmi, ”Robust Non-singular Terminal
Sliding Mode Attitude Control of Satellites”, Journal of Aerospace
Engineering (Review).

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Attitude Control of Satellite

Birla Institute of Technology, Mesra

Subham Dey (BIT-Mesra) Thesis Presentation May 14,2019 1 / 65

Designing attitude controllers for satellite system which ensures

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Attitude control for satellite is a problem which is of utmost

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1 Attitude Control Basics.

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Why Attitude Control?

Control Algorithms used for attitude control:

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SMC is a robust control technique used for design of controllers for

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A large number of attitude parameterization techniques exists in the

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T̃mcoil = m̃coil × B̃(t) (1)

Using principles of pseudo-inverse Eq.(40) can be written as Eq.(41).

The expression of magnetic control torque(T̃mcoil ) is finally given in

T̃mcoil = S(b̃(t))S(b̃(t))T ũ(t) (5)

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Figure: Magneto-Coulombic Actuator

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The charge distribution matrix(Q̃) is given in Eq.(51).

T̃coul = S(σ̃)S(σ̃)T ũ(t) (14)

T̃ = T̃mag + T̃coul (15)

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q̃˙ = R̃(q̃)ω˜r (19)

J ω̃˙ = S(ω̃)J ω̃ + 3ω02 S(J ẽxb )ẽxb + T̃coil + T̃dist (24)

Figure: Hybrid Actuator

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Figure: Magnetic Field

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Figure: Closed-Loop Block Diagram

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a [0.001 0.001 0.001]T [0.860 0.080 0.402 0.303]T 0.004 40

b [0.003 0.003 0.003]T [0.860 0.080 0.402 0.303]T 0.008 80

c [0.005 0.005 0.005]T [0.860 0.080 0.402 0.303]T 0.022 220

The magnitude of constants are considered as

Figure: Plots of quaternions for Case-a.

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The satellite system is actuated by a combination of magnetic and

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The expression of torque contributed by magnetic actuators is given by:

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p̃1T T̃mag = p̃1T ũ (29)

The above equations can be written in a compact form as

Using the concept of pseudo-inverse of matrix,

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In case of fault of magnetic actuator along the mz axis, Eq.(69) can be

The expression of magnetic torque (T̃mag ), in case of failure of a magnetic

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Table containing initial conditions of angular velocity, quaternions, charge

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Re-configurable technique ensures that the control torque remains

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Attitude kinematics in MRP parameters is given by:

ρ̃˙ = G (ρ̃)ω̃ (37)