Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 342043, 19 pages
Research Article

Attitude-Tracking Control with Path Planning for Agile Satellite Using Double-Gimbal Control Moment Gyros

Peiling Cui1,2,3 and Fuyu Liu1,2,3

1School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China
2Science and Technology on Inertial Laboratory, Beijing 100191, China
3Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory, Beijing 100191, China

Received 7 July 2012; Revised 19 September 2012; Accepted 19 September 2012

Academic Editor: Sebastian Anita

Copyright © 2012 Peiling Cui and Fuyu Liu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In view of the issue of rapid attitude maneuver control of agile satellite, this paper presents an attitude-tracking control algorithm with path planning based on the improved genetic algorithm, adaptive backstepping control as well as sliding mode control. The satellite applies double gimbal control moment gyro as actuator and is subjected to the external disturbance and uncertain inertia properties. Firstly, considering the comprehensive mathematical model of the agile satellite and the double gimbal control moment gyro, an improved genetic algorithm is proposed to solve the attitude path-planning problem. The goal is to find an energy optimal path which satisfies certain maneuverability under the constraints of the input saturation, actuator saturation, slew rate limit and singularity measurement limit. Then, the adaptive backstepping control and sliding mode control are adopted in the design of the attitude-tracking controller to track accurately the desired path comprised of the satellite attitude quaternion and velocity. Finally, simulation results indicate the robustness and good tracking performance of the derived controller as well as its ability to avert the singularity of double gimbal control moment gyro.