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Unknown input observer for satellite attitude control systems

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 Unknown Input Observer for Satellite Attitude Control
Systems
Jalal Eddine Benmansour1, Souad Tahraoui2, Rima Roubache1, Boulanouar Khouane3
1
Dept of Research in Space Mechanics, Centre of Satellite Development, Oran, Algeria
2
Dept of Electronic, Hassiba Benbouali University, Chlef, Algeria
3
School of Astronautics, Beihang University, Beijing, PR China

Abstract
This work aims to present the use of unknown input observer (UIO) methodology applied to satellite attitude control
systems (ACS) based on unknown input the decoupling principle. The aim is to generate an error signals named
“residuals”, an UIO approach and conditions of implementation of the this method are given, moreover the
algorithm for a simple use is developed. The effectiveness of the schemes in generate sensor faults is illustrated
by considering an example of ACS. The results of the simulation demonstrate that the proposed schemes can
successfully detect sensor faults even in the presence of system uncertainties.
Keywords: Rigid spacecraft, Unknown inputs observer, Residual, Diagnosis, Fault detection, sensor faults.

Received: September 21, 2017

To cite this article:

BENMANSOUR J.E., TAHRAOUI S., ROUABACHE R., KHOUANE B., “Unknown input observer for satellite attitude
control systems”, in Electrotehnica, Electronica, Automatica (EEA), 2018, vol. 66, no. 2, pp. 121-126, ISSN 1582-
5175.

fault estimation and compensation for microsatellite

1. Introduction attitude control systems [13].
As an effective fault estimation approach, the (UIO),
The satellite attitude control system is becoming more
which can solve the problem of adjusting the sensitivity to
and more important field of research in space technology
various faults and disturbances, by introducing state
because of the need high performance and reliability,
matrices in the equations of observers for the residual
however this system can generate various types of faults,
generation, where the decision making requires comparing
the most common faults in the satellite attitude system can
the fault indicator with theoretical or empirical threshold
be occurred by electronic short circuit, device saturation,
obtained.
data losses in the on-board computer and gradual creation
The literature counts several works in this field; the
of bias in gyro [1] which may degrade system behaviour.
first observers with unknown inputs were introduced in the
In recent years, the fault diagnostic (FD) for satellite
detection of defects by 14], [15] and [16]. Thereafter,
attitude control system subject to model perturbations has
been attracted attention of many searcher for its important various research focused on the residual generation
systems based on linear models has been done using the
application [2], [3] and [4]. With the advances in control
UIO; among these are the works of [17] were a method of
theory, Various FD approaches have been developed [5],
robust residual generation to linear system influenced by
[6], and [7], these methods can be classified generally in
the unknown inputs has been proposed, in [18] a
the analytical redundancy approach and the hardware
dynamically equivalent configuration of linear systems is
redundancy approach, however, using the second approach
developed using successive integrations, [19] investigates
increases the system size, complexity and additional
the detection and isolation of faults using structured
maintenance cost of the equipment. Therefore, analytical
residuals. The unknown inputs observer (UIO) has been
redundancy approach may use mathematical model of the
widely used in the diagnosis of breakdowns for industrial
system to generate redundancy, which can reduce overall
processes and installations [20], [21], [22].
cost [8].
In this paper, we deal with the problem where diagnosis
Amongst various approaches developed on sensor fault
estimation, a fruitful results have been published: an of sensor faults detection using unknown inputs observer of
a class of linear microsatellite attitude dynamic with
estimation method based on adaptive observer was
perfect decoupling of the unknown inputs disturbances.
presented with a sensor parameter fault diagnosis method
for generally multiple-input multiple-output (MIMO) [9], A 2. Satellite attitude Dynamics
descriptor system approach was done to investigate sensor
fault diagnosis with nonlinear systems in 10] which is uses The attitude motion of the satellite is governed by the
for sensor faults of any forms, [11] their work was Euler equations for the motion of a rigid body under the
dedicated to the sensor fault tolerant control scheme for influence of external disturbances [23], since the pitch
autonomous vehicle driving, A novel robust fault diagnosis attitude can be decoupled from roll/yaw attitude
approach for attitude satellite control with neural state therefore, roll/yaw attitude dynamics is mainly discussed
space model is provided by [12]. Afterwards a descriptor in this paper can be expressed as follows form:
system approach has been developed to investigate sensor
122 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 66 (2018), nr. 2

Tdx = Ix ϕ̈ + (a + ω0 hwy )ϕ + (b + hwy )ψ̇ + Tcx

{ (1)
Tdz = Iz ψ̈ + (c + ω0 hwy )ψ − (b + hwy )ϕ̇ + Tcz
where 𝐼𝑥 , and 𝐼𝑧 are the principal inertia moments of the
satellite; 𝜙 , and 𝜓 are roll, and yaw angles; 𝑇𝑑𝑥 and 𝑇𝑑𝑧
are the disturbances of roll and yaw axes; 𝑇𝑐𝑥 and 𝑇𝑐𝑧 are
the control torque for the two axes, respectively, where
ℎ𝑤𝑦 represent the constant momentum bias.
For notation simplicity, we defined
𝑎= 4𝜔02 (𝐼𝑦 − 𝐼𝑍 ), 𝑏 = 𝜔0 (𝐼𝑦 − 𝐼𝑥 − 𝐼𝑧 ), 𝑐 =
and
T = −(k x ϕ + k xd ϕ)
{ dx
Tdz = −(k z ψ + k zd ψ)
Denote 𝑥1 = 𝜙, 𝑥2 = 𝜓, 𝑥3 = 𝜙̇, 𝑥4 = 𝜓̇
ex (t) = z(t) − Ly y(t) − x(t)
= z(t) − Ly (Cx(t) + Fy f(t)) − x(t)
= z(t) − (I + Ly C)x(t) − Lx Fy f(t) (7)
= z(t) − Ex(t) − Ly Fy f(t)
Thereby
𝜔02 (𝐼𝑦 − 𝐼𝑥 ) 𝑧(𝑡) = 𝑒𝑥 (𝑡) + 𝐸𝑥(𝑡) + 𝐿𝑦 𝐹𝑦 𝑓(𝑡)
The dynamic error in state estimation is
𝑒̇𝑥 (𝑡) = 𝑧̇(𝑡) − 𝐸𝑥̇ (𝑡) − 𝐿𝑥 𝐹𝑦 𝑓(𝑡)
(2)
𝑒̇𝑥 (𝑡) = 𝑀𝑒𝑥 (𝑡) + (𝑀𝐸 + 𝑃𝐶 − 𝐸𝐴)𝑥(𝑡)

𝑥 = (𝑥1 , 𝑥2 , 𝑥3 , 𝑥4 )𝑇 , 𝑢 = (𝑇𝑐𝑥 𝑇𝑐𝑧 ), 𝑑 = (𝑇𝑑𝑥 𝑇𝑑𝑧 ) +(N − EA)u(t) (8)

then Eq. (1) can be transformed into the following state
representation: −(𝑀𝐿𝑦 𝐹𝑦 + 𝑃𝐹𝑦 − 𝐸𝐹𝑥 )𝑓(𝑡) − 𝐿𝑦 𝐹𝑦 (𝑡)𝑓̇ − 𝐸𝐷𝑥 𝑑(𝑡)
ẋ (t) = Ax(t) + Bu(t) + Dx d(t) In which following conditions are fulfilled.
{ (3)
y(t) = Cx(t)
𝑀 is a Hurwitz matrix (stable).
where
0 0 1 0 𝑀𝐸 + 𝑃𝐶 = 𝐸𝐴
0 0 0 1
−(𝑎 + 𝜔0 ℎ0 ) −(𝑏 + ℎ0 ) 𝑁 = 𝐸𝐵
𝐴= 0 0 ,
𝐼𝑥𝑥 𝐼𝑥𝑥
−(𝑐 + 𝜔0 ℎ0 ) 𝑏 + ℎ0 𝐸𝐷𝑥 = 0
0 0
( 𝐼𝑧𝑧 𝐼𝑧𝑧 )
and 𝑀𝐿𝑦 𝐹𝑦 + 𝑃𝐹𝑦 + 𝐸𝐹𝑦 ≠ 0
0 0
0 0 1 0 0 0 𝐿𝑥 𝐹𝑦 ≠ 0
1 0 1 0 0
𝐵 = 𝐷𝑥 = 0 and 𝐶 = ( )
𝐼𝑥𝑥 0 0 1 0 On the control input and the unknown input, the
0
1
0 0 0 1 estimation error becomes independent of the state so is
( 𝐼𝑧𝑧 )
sensitive to faults. Therefore, the solution of the set of
equations is primarily provided to ensure decoupling
3. Unknown input observer UIO detection unknown inputs.
In the presence of sensor faults, the Eq. (3) can be 𝐸𝐷𝑥 = 0 or 𝐸 = 𝐼 + 𝐿𝑦 𝐶
rewritten as:
ẋ (t) = Ax(t) + Bu(t) + Dx d(t) (𝐼 + 𝐿𝑦 𝐶)𝐷𝑥 = 0 then (𝐿𝑦 𝐶)𝐷𝑥 = −𝐷𝑥
{ (4)
y(t) = Cx(t) + Fy f(t) The matrix𝐿𝑦 can be calculed as

1 0 0 0 Ly = −Dx (CDx )+ (9)

0 1 0 0 such as
𝐹𝑦 = ( )
0 0 1 0
0 0 0 1 −1
(𝐶𝐷𝑥 )+ = ((𝐶𝐷𝑥 )𝑇 (𝐶𝐷𝑥 )) (𝐶𝐷𝑥 )𝑇 .
which is the system to be monitored.
In case where the vector of the unknown input acts on Therefore, the matrix 𝐿𝑦 exists only if the
the output vector, the structure of the UIO can be matrix(𝐶𝐷𝑥 )𝑇 (𝐶𝐷𝑥 ) is invertible.
described with a bilinear transformation as follows: The invertibility is verified if the rank of (𝐶𝐷𝑥 ) = 𝑛
with 𝑛 is the number of unknown inputs and its dimension
ż (t) = Mz(t) + Nu(t) + Py(t) [24].
{ (t) (5)
x̂ = z(t) + Ly y(t) Note: Decoupling can be done only if the rank of the
matrix (𝐶𝐷𝑥 ) equals the number of decoupled inputs.
where 𝑀, 𝑁, 𝑃 and 𝐿𝑦 are unknown matrices of appropriate
dimensions. 4. Synthesis algorithm of observer
The error states reconstitution:
I. If𝑟𝑎𝑛𝑘(𝐶𝐷𝑥 ) = 𝑛 then calculate
ex (t) = x̂(t) − x(t) (6)
−1
Substituting (6) in the second equation of (5) gives: 𝐿𝑦 = −𝐷𝑥 ((𝐶𝐷𝑥 )𝑇 (𝐶𝐷𝑥 )) (𝐶𝐷𝑥 )𝑇 .
II. From 𝐿𝑦 calculate 𝐸 = 𝐼 + 𝐿𝑦 𝐶.
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 66 (2018), nr. 2 123
III. Impose 𝑀 as a Hurwitz diagonal matrix. In order to simulate the above algorithm, the results are
IV. Calculate the matrix 𝑃 such that 𝑃𝐶 = 𝐸𝐴 − 𝑀𝐸. obtained using the parameters of the Malaysian satellite
Therefore, the transfer matrix linking the fault TiungSAT-1, launched in September 2000 (Table 1).
estimation with error output can be described as:
Table 1. Satellite simulation parameters
𝐹 = 𝑚𝐿𝑦 𝐹𝑦 + 𝑃𝐹𝑦 − 𝐸𝐹𝑦
Moment of inertia 𝐼𝑥 100 𝑘𝑔. 𝑚2
Moment of inertia 𝐼𝑧 2.5 𝑘𝑔. 𝑚2
𝐹 ′ = −𝐿𝑦 𝐹𝑦 Orbital rate 𝜔0 0.0010764 𝑟𝑎𝑑/𝑠
Initial Roll angle 𝜙0 3 𝑑𝑒𝑔
The residual vector is:
Initial Yaw angle 𝜓0 1 𝑑𝑒𝑔
𝑟(𝑠) = 𝑄(𝑠)𝑒𝑦 (𝑠) Disturbance 𝑇𝑑𝑥 5. 10−6 𝑁. 𝑚
Disturbance 𝑇𝑑𝑥 5. 10−6 𝑁. 𝑚
Momentum bias ℎ𝑤𝑦 20 𝑁. 𝑚. 𝑠
= 𝑄(𝑠)𝐺𝑓 (𝑠)𝑓(𝑠) (10)
Simulation time 600 𝑠
while the transfer function of fault is:
Consider the satellite attitude control system when
𝐺𝑓 (𝑠) = 𝐶(𝑆𝐼 − 𝑀)−1 (𝐹 + 𝑆𝐹 ′ ) − 𝐹𝑦 (11) subjected under sensor fault can be put into the form of
Note: 𝑄(𝑠)is a stable matrix which Allows to structure Equation. 1 given by the following states matrix:
the residues in order to facilitate faults location. 0 0 1 0
0 0 0 1
𝐴=( )
5. Residual generation and analysis −0.0002 0 0 −1.9997
0 −0.0086 7.9989 0
The unknown input observer theory with perfect
decoupling aim to making the estimation error independent 0 0 1 0 0 0 0
of no measurable perturbations, it is the robust residues 0 0 0 1 0 0 0
𝐵=( ),𝐶 = ( ) , 𝐷𝑥 = ( )
generation. 0.01 0 0 0 1 0 0.01
A well-designed residual signal is set such that it is equal 0 0.4 0 0 0 1 0.4
to or close to zero in the absence of a fault and is different
from zero when the system is faulty. 𝑣1
𝑣2
𝑉𝑖 = (𝑣 ).
𝑟(𝑡) = 0 𝑜𝑟 𝑟(𝑡) ≈ 0 3
{ 𝑣4
𝑟(𝑡) ≠ 0,
The values of the residuals are at each instant, The rank of the matrix (𝐶𝐷𝑥 ) = 1, which is equals to
compared to thresholds that are calculated theoretically or the number of inputs.
empirically. The tests can be carried out in parallel and Therefore, the residual generator sensitive to faults and
each decision resulting from these tests leads to a Boolean insensitive to disturbance is constructed. In this part, the
value (0: the value of the residue is below the threshold, 1: conditions of unknown input observer as in (5) existence for
the value of the residue has exceeded the set threshold). the system as in (3) is verified.
The set of these Boolean values forms a binary vector It can be obtained as:
called Fault Signature. This comparison then leads to a 0 0 0 0
conclusion about the state of the system; normal operation, 0 0 0 0
𝐿𝑦 = −𝐷𝑥 (𝐶𝐷𝑥 )+ = ( )
identified failure or eventually unidentified failure. 0 0 −0.0006 −0.0249
A theoretical signatures table generated by the set of 0 0 −0.0246 −0.9993
signals 𝑟𝑖𝑗 defined by:
1 0 0 0
1 𝑖𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑖𝑑𝑢𝑎𝑙 𝑖𝑠 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒 𝑡𝑜 𝑓𝑖 0 1 0 0
𝑟𝑖𝑗 = { 𝐸 = 𝐼 + 𝐿𝑦 𝐶 = ( )
0 𝑖𝑓 𝑡ℎ𝑒 𝑟𝑒𝑠𝑖𝑑𝑢𝑎𝑙 𝑖𝑠 𝑛𝑜𝑡 𝑠𝑒𝑛𝑠𝑖𝑡𝑖𝑣𝑒 𝑡𝑜 𝑓𝑖 0 0 0.9993 −0.0249
0 0 −0.0249 0.0006

6. Model of the system to be monitored 0 0

0 0
The objective of this observer is to estimate the faults 𝑁 = 𝐸𝐵 = ( )
0.0099 −0.0099
affecting the sensor of the linear system described by the −0.0002 0.0002
application studied.
The system being monitored correctly is described by It is required that the matrix 𝑀 is Hurwitz, in fact by
the following state representation: choosing 𝑀 diagonal and the eigenvalues given as:
ẋ 1 x1 𝜆1 = −5, 𝜆2 = −3, 𝜆3 = −10 and 𝜆4 = −4
ẋ x
( 2 ) = A (x2 ) + Bu + Dx d Then the matrix can be written as:
ẋ 3 3
ẋ 4 x4
(12) −5 0 0 0
y1 x1 v1 (t) 0 −3 0 0
y2 x2 v (t) 𝑀=( )
(y ) = C (x ) + Fy f + ( 2 ) 0 0 −10 0
3 3 v3 (t) 0 0 0 −4
{ y4 x4 v4 (t)
Calculating the matrix 𝑃 such that 𝑃𝐶 = 𝐸𝐴 − 𝑀𝐸 ,
where 𝑣𝑖 (𝑡) is the measurement noise vector. with 𝐶 is identity matrix then:
124 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 66 (2018), nr. 2

5 0 1 0
0 3 0 1
𝑃=( )
−0.0002 0.0002 9.7939 −0.4496
0 0 −0.0949 0.0074
It is noted that the number of measurements is strictly
greater than the number of the unknown inputs, thus the
existence conditions of the proposed algorithm are
verified.
Based on the preceding formulation the observer of the
unknown input can be structured as follow:
𝑍̇1 −5 0 0 0 Figure 1. Residual r1(t) with perturbation
𝑍̇2 0 −3 0 0
=( )
𝑍̇3 0 0 −10 0
𝑍̇4 0 0 0 −4
( )

0 0
0 0 𝑇
+( ) ( 𝑐𝑥 )
0.0099 −0.0099 𝑇𝑐𝑧
−0.0002 0.0002

5 0 1 0 𝑦1
0 3 0 1 𝑦2
+( ) (𝑦 )(13)
−0.0002 0.0002 9.7939 −0.4496 3
0 0 −0.0949 0.0074 𝑦4
The dynamics of the estimation error is:
𝑦1 𝑧1 0 Figure 2. Residual r2(t) with perturbations
𝑦2 𝑧2 0
𝑒 = (𝑦 ) − 𝐶 (𝑧 ) + ( ) In practice, the residuals are different from zero due to
3 3 0.006𝑦3 + 0.0249𝑦4
𝑦4 𝑧4 0.0249𝑦3 + 0.9993𝑦4 noise measurements. In order to come closer to reality,
random signals are added to the measurements which are
illustrated in Figures 2 and 3.
7. Simulation results and discussion
The simulation aims to check the faults detection,
which will be characterized by the appearance of the
signals of the corresponding residuals, through the
implementation of the observer estimator of the faults f s1
and f s 2 .
In fact, the observer reconstructs the residue 𝑟1 or 𝑟2
of the system; if the system has a defect then it will be
estimated directly. Consequently, with this observer, the
two sensor faults are detected and localized even if they
occur simultaneously.
In this work, a measurement noise is added; the
residues are evaluated in normal operation and in faulty
operation. Figure 3. Residual r1(t) with perturbation and noise
Furthermore, it is assumed that two sensors faults are measurements.
occur in the system simultaneously which can be defined as
follows:
0 𝑡 < 100
𝑓𝑠1 = {0.5 100 < 𝑡 < 200
0 200 < 𝑡

0 𝑡 < 100
𝑓𝑠2 = {0.3 300 < 𝑡 < 400
0 400 < 𝑡

Normal mode with perturbation

Figures 1 and 2 show that the perturbations are
perfectly decoupled through the proposed observer.
Figure 4. Residual r2(t) with perturbations and noise
measurements
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 66 (2018), nr. 2
Faulty mode “with 𝒇𝒔𝟏 ”
Figure 5 can be obtained by simulating an additive
fault on the input at the instant 100≤t≤200, for this fault
only the residue r1 (t) is sensitive, therefore detectable,
as indicated in the signature Table 2.
Figure 5. Residuals r1(t) with perturbation, noise
measurements and fault 𝑓𝑠1
Figure 6. Residuals r2(t) with perturbations, noise
measurements and fault 𝑓𝑠1
Faulty mode “with 𝒇𝒔𝟐 ”
By simulating an additive fault on the input at the
instant 300≤t≤400, with variation of amplitude, for this
fault only the residue r2(t) is sensitive.
Figures 7 and 8 can demonstrate these results.
Figure 7. Residuals r2(t) with perturbation, noise
measurements and fault 𝑓𝑠2
125
Figure 8. Residuals r2(t) with perturbations, noise
measurements and fault 𝑓𝑠2
According to the last two figures, it can be concluded
that only the residue r2(t) is detectable (Table 2).
Table 2. Signature table
𝑓𝑠1 𝑓𝑠2
𝒓𝟏 𝟏 𝟎
𝒓𝟐 𝟎 𝟏
According to the above table, it is noted that the
residuals are insensitive to disturbances with a structure
allowing the detection and the complete localization of the
two sensors faults.
8. Conclusions
In this paper, the sensors faults detection approach
with unknown input observer has been proposed. The
developed method is applied using the dynamic model of
satellite attitude system with unknown inputs disturbances.
The simulations results shown that the perturbations
are perfectly decoupled through the proposed observer and
confirm that the generation of the residues has been
effectively proved for all the cases considered.
For future work is required to consider more
disturbances (internal disturbances) such as the vibration
torques caused by flexible appendages in order to provide
new composite control approach.
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Acknowledgments
The authors wish to thanks the head Department of
Research in Space Mechanics, (Si Mohammed Mohammed
Arezki), Satellite Development Centre in Oran. Algeria.
Biography
Jalal Eddine Benmansour was born in
Tlemcen, Algeria, on January 09, 1982.
In 2006, he received a higher education
qualification in Mathematics; in 2009 he
received the M.Sc. in Control of process from
the University of Tlemcen, Algeria.
He received his PhD degree in control theory from Beihang
University, Beijing China 2016.
Currently, he is searcher in Algerian Space Agency.
He is a researcher in the satellite development centre in
Algeria.
His areas of interest are attitude control and estimation of
satellite.
E-mail: jebenmansour@cds.asal.dz
Souad Tahraoui was born in Tlemcen, Algeria,
on October 27, 1983.
In 2007, she received the Engineer degree in
Electronic, and in 2009 she received the M.Sc.
in Control of process from the University of
Tlemcen, Algeria.
She is a PHD degree in Automatic: modelling and control of
process from the Same university on 2015.
She is a professor in the Hassiba Benbouali University of
Chlef, Department of Electronic.
Her areas of interest are diagnosis and supervision of dynamic
E-mail: s.tahraoui@univ-chlef.dz
Rima Roubache was born in Beni-saf,
Algeria, on October 15, 1979.
In 2008, she received the magister in science
of materials from the University of Oran.
She is a PHD degree in physics: attitude
estimation for satellites from the same
University on 2014.
Currently, she is researcher in satellite development centre
in Algeria.
Her areas of interest are attitude estimation and control of
satellite.
E-mail: rimaroubache@gmail.com
Boulanouar Khouane was born in Tlemcen,
Algeria, on November 07, 1985.
In 2009, he received the engineer degree
Automatic, and the Magister degree in 2013
from the University of Tlemcen, Algeria.
Currently, he is working towards Ph.D. degree
in the School of Astronautics, Beihang University Beijing,
China.
His areas of interest are dynamics and control of satellite.
E-mail: b.khouane@gmail.com