AUT Journal of Electrical Engineering

AUT Journal of Electrical Engineering

Hybrid Fault-Tolerant Controller-Based Nonlinear Model Predictive Control For a Flexible Satellite

Document Type : Research Article

Authors
Department of Aerospace Engineering, University of Isfahan, Isfahan, Iran
Abstract
This brief discusses the stabilization of a flexible satellite's attitude while considering actuator dynamics. It employs a constrained Lyapunov Nonlinear Model Predictive Control (LNMPC) method combined with the Feedback Linearization Technique (FBL). FBL is chosen for its ability to cancel the system's nonlinearity, making the control law easier to implement and more effective. more over the LNMPC is not able to nullify the low frequencies so it is necessary to combining it with a nonlinear controller. This composite controller aims for high accuracy in tracking the reference trajectory and, due to the LNMPC, provides tremendous robustness against unknown disturbances. The hybrid controller is designed to steer the satellite's attitude and bring the reaction wheel's angular momentum to zero to save energy. This paper addresses various challenges faced by satellites during their missions, including uncertainties, external torque disturbances, actuator faults, and vibrations of appendages. The performance of the proposed controller is analyzed while considering all these challenges. The active set method is used as the optimization algorithm, more over a nonlinear disturbance observer named Cascade Extended State Observer ( Cascade ESO) is introduced to overcome the external disturbance and improve the performance of the controller and closed-loop stability is addressed using a candidate Lyapunov function.
Keywords
Subjects

[1] S. Ahmed and E. C. Kerrigan, ``Suboptimal Predictive Control for Satellite Detumbling, Journal of Guidance, Control, and Dynamics, vol. 37, no. 3, pp. 850-859, 2014, doi: 10.2514/1.61367.
[2] W.-H. C. Yi Cao, ``Automatic Differentiation-Based Nonlinear Model Predictive Control of Satellites using Magneto-Torquers, IEEE, 2009.
[3] K. Kondo, I. Kolmanovsky, Y. Yoshimura, M. Bando, S. Nagasaki, and T. Hanada, ``Nonlinear Model Predictive Detumbling of Small Satellites with a Single-Axis Magnetorquer, Journal of Guidance, Control, and Dynamics, vol. 44, no. 6, pp. 1211-1218, 2021, doi: 10.2514/1.G005877.
[4] J. A. Starek and I. V. Kolmanovsky, ``Nonlinear model predictive control strategy for low thrust spacecraft missions, Optimal Control Applications and Methods, vol. 35, no. 1, pp. 1-20, 2012, doi: 10.1002/oca.2049.
[5] T. Rybus, K. Seweryn, and J. Z. Sasiadek, Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC), Journal of Intelligent \& Robotic Systems, vol. 85, no. 3-4, pp. 491-509, 2016, doi: 10.1007/s10846-016-0396-2.
[6] A. Alouache, ``Nonlinear Model Predictive Control for Trajectory Tracking and Obstacle Avoidance of Free-Floating Satellite Manipulator, Journal of Advanced Engineering and Computation, vol. 8, no. 2, 2024, doi: 10.55579/jaec.202482.455
[7] L. A. M. Wei Wang, Shinkyu Park, Pietro Leoni, Banti Gheneti, and C. R. a. D. R. Fabio Duarte, Design, Modeling, and Nonlinear Model Predictive Tracking Control of a Novel Autonomous Surface Vehicle, IEEE, 2018.
[8] Y. Wang, M. Soltani, and D. M. A. Hussain, ``Attitude stabilization of Marine Satellite Tracking Antenna using Model Predictive Control, IFAC Journal of Systems and Control, vol. 17, 2021, doi: 10.1016/j.ifacsc.2021.100173.
[9] K. V. L. Xiaohua Zhang, Zhengliang Lu, Xiang Zhang, Wenhe Liao, W.S. Lim, ``Piece-wise affine MPC-based attitude control for a CubeSat during orbital manoeuvres, Elsevier, Aerospace Science and Technology, 2021, doi: 10.1016/j.ast.2021.106997.
[10] S. Kalaycioglu and A. de Ruiter, ``Vibration Control of Satellite Antennas via NMPC and NARX Neural Networks,IEEE Transactions on Aerospace and Electronic Systems,pp. 1-29, 2025, doi: 10.1109/taes.2025.3551276.
[11] M. AlandiHallaj and N. Assadian, Multiple-horizon multiple-model predictive control of electromagnetic tethered satellite system, Acta Astronautica , vol. 157, pp. 250-262, 2019, doi: 10.1016/j.actaastro.2018.11.003.
[12] M. Khodaverdian and M. Malekzadeh, ``Attitude stabilization of spacecraft simulator based on modified constrained feedback linearization model predictive control, IET Control Theory \& Applications, vol. 17, no. 8, pp. 953-967, 2023, doi: 10.1049/cth2.12429.
[13] Z. Cai, S. Zhang, and X. Jing, Model Predictive Controller for Quadcopter Trajectory Tracking Based on Feedback Linearization, IEEE Access, vol. 9, pp. 162909-162918, 2021, doi: 10.1109/access.2021.3134009.
[14] Y. Z. Mohamed A. Kamel, ``Linear Model Predictive Control via Feedback Linearization for Formation Control of Multiple Wheeled Mobile Robots, IEEE International Conference on Information and Automation, Lijiang, China, August 2015, 2015.     
[15] P. E. Fabian Schnelle, Constraint mapping in a feedback linearization/MPC scheme for trajectory tracking of underactuated multibody systems, Elsevier, 2015.
[16]J. A. M. Jack Caldwell, ``Towards Efficient Learning-Based Model Predictive Control via Feedback Linearization and Gaussian Process Regression, IEEE, 2021.
[17] M. M. Maria Khodaverdian, ``Fault-tolerant model predictive sliding mode control with fixed-time attitude stabilization and vibration suppression of flexible spacecraft, Elsevier, Aerospace Science and Technology, 2023, doi: 10.1016/j.ast.2023.108381.
[18] Wenmen You, Xiangpeng Xie, Hui Wang , Jianwei Xia ,Vladimir Stojanovic, Relaxed Model Predictive Control of T-S Fuzzy Systems via a New Switching-Type Homogeneous Polynomial Technique, IEEE Transactions of Fuzzy Systems, 2024,doi: 10.1109/TFUZZ.2024.3405078
[19]Marcelo Menezes Morato , Emanuel Bernardi , Vladimir Stojanovich , A qLPV Nonlinear Model Predicitve Control with Moving Horizon Estimation , Complex Engineering Systems , 2021 , doi: 10.20517/ces.2021.09
[20] Morteza Salehipour, Maryam Malekzadeh, Mahdi Mortazavi, Mohammad Sayanjali, AUT Journal of Mechanical Engineering,2025,doi: 10.22060/ajme.2025.24218.6184
[21] T.P. Sales , D.A. Rade, L.C.G. de Souza , Passive vibration control of flexible spacecraft using shunted piezoelectric transducers, Aerospace Science and Technology , 2013 , doi: 10.1016/j.ast.2013.05.001
[22] M. Azadi, M. Eghtesad, S.A. Fazelzadeh, E. Azadi, Dynamics and control of a smart flexible satellite moving an orbit, Springer, doi: 10.1007/s11044-014-9447-2
[23] S. M. SYED MUHAMMAD AMRR, IEEE), MASHUQ UN NABI, (Member, IEEE), An Event-Triggered Robust Attitude Control of Flexible Spacecraft With Modified Rodrigues Parameters Under Limited Communication, IEEE, 2019, doi: 10.1109/ACCESS.2019.2927616.
[24] Q. Hu, ``Sliding mode maneuvering control and active vibration damping of three-axis stabilized flexible spacecraft with actuator dynamics, Springer, 2008, doi: 10.1007/s11071-007-9274-6.
[25] S. Zhu, D. Wang, Q. Shen, and E. K. Poh, Satellite Attitude Stabilization Control with Actuator Faults, Journal of Guidance, Control, and Dynamics, vol. 40, no. 5, pp. 1304-1313, 2017, doi: 10.2514/1.G001922.
[26] D. J. P. a. G.A. Andrade a, J.D. A´ lvarez c, M. Berenguel ``A practical NMPC with robustness of stability applied to distributed solar power plants, Elsevier, 2013, doi: 10.1016/j.solener.2013.02.013.
[27] M. R. H. M. Navabi, Spacecraft Quaternion-Based Attitude Input-Output Feedback Linearization Control Using Reaction Wheels, IEEE, 2017.
[28] W. R. van Soest, Q. P. Chu, and J. A. Mulder, ``Combined Feedback Linearization and Constrained Model Predictive Control for Entry Flight, Journal of Guidance, Control, and Dynamics, vol. 29, no. 2, pp. 427-434, 2006, doi: 10.2514/1.14511
[29]Liuping Wang, Model Predictive Control System Design and Implementation Using MATLAB, Springer-Verlag London Limited,2009,doi: 10.1007/978-1-84882-331-0 
[30] S. D. Zhidan Yan, Zhenyu Yang, Xudong Zhao, Nan Yang, Yunfeng Lu ``Improved nonlinear active disturbance rejection control for a continuous-wave pulse generator with cascaded extended state observer, Elsevier, Control Engineering Practice, p. 15, 2024, doi: 10.1016/j.conengprac.2024.105897.
[31] J. S. Ti Chen, ``Rotation-Matrix-Based Attitude Tracking for Multiple Flexible Spacecraft with Actuator Faults, AIAA Guidance, Navigation, and Control Conference, p. 8, 2018, doi: 10.2514/1.G003812.
[32] C. Zhang, G. Ma, Y. Sun, and C. Li, ``Prescribed performance adaptive attitude tracking control for flexible spacecraft with active vibration suppression, Nonlinear Dynamics, vol. 96, no. 3, pp. 1909-1926, 2019, doi: 10.1007/s11071-019-04894-x.