Spacecraft Attitude Control Compensating Internal Payload Motion Using Disturbance Observer Technique

  • Hyochoong BangEmail author
  • Jongbum Kim
  • Youeyun Jung
Original Paper


Spacecraft attitude motion compensation approach to deal with internal slewing payload motion is addressed in this study. The internal payload motion is generated by a steering mechanism such as steerable gimbals for image acquisition as well as error correction due to orbital and attitude errors. Disturbance caused by payload motion in general cannot be measured using sensing devices. The disturbance effect can be estimated by using the so-called disturbance observer technique. The estimated disturbance can be compensated by a feedforward control law. The new control law can accommodate internal disturbance by a combined conventional feedback and feedforward control for estimated disturbance.


Spacecraft attitude control Payload motion Disturbance observer Feedforward control Image navigation and registration 



This research was supported by the Space Core Technology Development Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT and Future Planning (NRF-2013M1A3A3A02042524).


  1. 1.
    NAS5-98069 (2005) GOES N databook, Rev B, Image navigation and registration. Accessed 1 May 2016
  2. 2.
    Lee US, Choi YH, Park SY, Bang HC, Ju G, Yang KH (2002) Development and analysis of image registration program for the communication, meteorological satellites (COMS). J Astron Space Sci 23(4):235–248Google Scholar
  3. 3.
    Kamel A (1996) GOES image navigation and registration system. International symposium on optical science, engineering, and instrumenation, Denver, USAGoogle Scholar
  4. 4.
    Kelly KA, Hudson JF, Pinkine N (1996) GOES-8 and -9 image navigation and registration opertions. International symposium on optical science, engineering, and instrumenation, Denver, USAGoogle Scholar
  5. 5.
    Bryant W, Ashton S, Comeyne GJ, Ditillo DA (1996) GOES image navigation and registration on-orbit performance. International symposium on optical science, engineering, and instrumenation, Denver, USAGoogle Scholar
  6. 6.
    McLaren MD, Chu PY (1992) Slew disturbance compensation for multiple payloads of a flexible spacecrafts. In: Guidance, navigation and control conference, p 4457Google Scholar
  7. 7.
    Abdollahi A, Dastranj MR, Riahi AR (2014) Satellite attitude tracking for earth pushbroom imaginary with forward motion compensation. Int J Control Autom 7(1):437–446CrossRefGoogle Scholar
  8. 8.
    Janschek K, Techernykh V (2001) Optical correlator for image motion compensation in the focal plane of a satellite camera. IFAC Proc Vol 34(15):378–382CrossRefGoogle Scholar
  9. 9.
    Zhigang W, Shilu C, Qing L (2007) Scan mirror motion compensation technology for high accuracy satellite remote sensor. In: Second international conference on space information technology. International society for optics and photonics, pp 6759, 67953SGoogle Scholar
  10. 10.
    Mohammadi A, Marquez HJ, Tavakoli M (2011) Disturbance observer-based trajectory following control of nonlinear robotic manipulator. In: Proceedings of the 23rd CANCAM, pp 5–9Google Scholar
  11. 11.
    Liu CS, Peng H (2000) Disturbance observer based tracking control. J Dyn Syst Meas Control 122(2):332–335CrossRefGoogle Scholar
  12. 12.
    Chen WH, Ballance DJ, Gawthrop PJ (2000) A nonlinear disturbance observer for robotic manipulators. IEEE Trans Ind Electron 47(4):932–938CrossRefGoogle Scholar
  13. 13.
    Wikipedia, Separation principle. Accessed 15 Nov 2018
  14. 14.
    Khalil HK, Praly L (2014) High-gain observers in nonlinear feedback control. Int J Robust Nonlinear Control 24(6):993–1015MathSciNetCrossRefGoogle Scholar
  15. 15.
    Boizot N, Busvelle E, Guathier JP (2010) An adaptive high-gain observer for nonlinear systems. Automatica 46(9):1483–1488MathSciNetCrossRefGoogle Scholar
  16. 16.
    Wie B (1998) Space vehicle dynamics. American Institute of Aeronautics and Astronautics Inc, Reston, VirginiazbMATHGoogle Scholar
  17. 17.
    Choi YH, Bang HC (2007) Dynamic control allocation for shaping spacecraft attitude control command. Int J Aeronaut Space Sci 8(1):10–20CrossRefGoogle Scholar
  18. 18.
    Wie B, Weiss H, Arapostathis (1989) Quaternion feedback regulator for spacecraft Eigenaxis rotations. J Guid Control Dyn 12(3):375–380MathSciNetCrossRefGoogle Scholar
  19. 19.
    Lee HJ, Cho SJ, Bang HC (2006) Attitude control of agile spacecraft using momentum exchange devices. Int J Aeronaut Space Sci 7(2):14–25CrossRefGoogle Scholar
  20. 20.
    Kalman RE, Bertram JE (1960) Control system analysis and design by the second method of Lyapunov. J Basic Eng 82(2):371–393CrossRefGoogle Scholar
  21. 21.
    LaSalle J, Lefschetz S (1961) Stability by Lyapunovs direct method with applications. Academic Press, New YorkGoogle Scholar

Copyright information

© The Korean Society for Aeronautical & Space Sciences 2019

Authors and Affiliations

  1. 1.Korea Advanced Institute of Science and TechnologyDaejeonKorea
  2. 2.Korea Air Force AcademyCheongju-siKorea

Personalised recommendations