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Spacecraft attitude takeover and torque distribution optimization on SO(3) considering jerk
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DOI：10.1016/j.asr.2026.02.034.png)
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Abstract
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This paper proposes an attitude takeover control algorithm based on the state-dependent Riccati equation (SDRE) and employs the particle swarm optimization (PSO) algorithm to achieve torque distribution while considering the actuator's jerk. The algorithm accounts for changes in the system's inertia before and after takeover control, as well as unknown external disturbances. An SDRE nonlinear control strategy is utilized, and the spacecraft's attitude is described using the special orthogonal group SO(3) on the Lie group to avoid the singularity of the attitude model. Subsequently, an algorithm considering the jerk and energy consumption of the actuator is developed to allocate torque from the top-level controller to each actuator. Compared to traditional methods, the proposed scheme maintains energy optimality while not only effectively managing actuator saturation but also reducing actuator jerk. Numerical simulation results validate the effectiveness of the SO(3)-SDRE takeover controller and the Jerk-PSO algorithm. (c) 2026 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.
Keywords:
Attitude takeover
State-dependent Riccati equation
SO(3)
PSO
Jerk
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