ADAPTIVE ATTITUDE-CONTROL FOR AN ARTIFICIAL-SATELLITE WITH MOBILE BODIES

Feedforward control with a parameter estimation law for an artificial satellite with antennas or manipulators is presented. The proposed met hod utilizes the linearity of the unknown parameters on tile angular m omentum. It is possible to append an estimation capability by adding a few terms to conventional feedforward control. A compensation method for the time delay in the velocity control loop of the reaction wheels is also proposed, and its effects on the parameter estimation results are analyzed. The analytical results coincide well with simulation re sults, and the effects of the time delay are expressed quantitatively.