Design and Validation of an Embedded Attitude Control System for a Microlauncher

Authors

  • Adalberto Tavares Júnior Departamento de Ciência e Tecnologia Aeroespacial – Instituto Tecnológico de Aeronáutica – Divisão de Engenharia Eletrônica – São José dos Campos/SP – Brazil. https://orcid.org/0009-0004-9349-1992
  • Moisés José dos Santos Freitas Universidade de Taubaté – Departamento de Informática – Taubaté/SP – Brazil. https://orcid.org/0000-0002-4246-8555
  • Paulo Renato Pereira Silva Departamento de Ciência e Tecnologia Aeroespacial – Instituto Tecnológico de Aeronáutica – Divisão de Engenharia Eletrônica – São José dos Campos/SP – Brazil. https://orcid.org/0000-0003-0106-2230
  • Neusa Maria Franco de Oliveira Departamento de Ciência e Tecnologia Aeroespacial – Instituto Tecnológico de Aeronáutica – Divisão de Engenharia Eletrônica – São José dos Campos/SP – Brazil. https://orcid.org/0000-0003-2625-2161

DOI:

https://doi.org/10.1590/jatm.v18.1445

Keywords:

Guidance, navigation, and control, Proportional-integral-derivative controllers, Gain scheduling, Hardware-in-the-loop simulation, Launch vehicles

Abstract

This work presents the design, simulation, and validation of an embedded guidance, navigation, and control (GNC) system on a simulated onboard platform for the first stage of a microlauncher vehicle. The objective is to evaluate the performance and feasibility of an embedded control architecture throughout powered flight. The control strategy adopted is a proportional-integral-derivative (PID) controller with gain scheduling, employing gains that are tuned by a linear quadratic (LQ) approach to counteract vehicle dynamics changes. The guidance unit supplies reference attitude angles, and the navigation unit estimates vehicle orientation based on inertial measurements in rotation matrices and Euler angles. The validation process involves software-in-the-loop (SIL) and hardware-in-the-loop (HIL) simulations, with the GNC algorithms executed in real time on an embedded hardware platform. Results show excellent pitch stabilization, accurate tracking of the reference trajectory, and actuator commands within operational limits. The simulated vehicle response is well correlated with expected mission profiles. In addition, functional requirements and verification procedures for the GNC system are also formally stated. These findings justify the development of robust embedded avionics systems for microlaunchers and provide an experimentally verified methodological framework to be applied in the future in small satellite launch vehicles.


References

Afilipoae TP, Neculăescu AM, Onel AI, Pricop MV, Marin A, Perșinaru AG, Ioniță C, Bădescu R, Zărnescu O, Dumitrescu A, et al. (2018) Launch vehicle-MDO in the development of a microlauncher. Transp Res Procedia 29:1-11. https://doi.org/10.1016/j.trpro.2018.02.001

Ansari U, Bajodah AH (2015) Generalized dynamic inversion scheme for satellite launch vehicle attitude control. IFACPapersOnLine 48(9):114-119. https://doi.org/10.1016/j.ifacol.2015.08.069

Barbosa ECG, Góes LC, Xavier TS (2018) Hydraulic pressure fed system using helium gas and fast electro hydraulic actuator applied to Brazilian sounding rockets and microsatellite launchers. Paper presented 2018 4th Workshop on Innovative Engineering for Fluid Power. ABIMAQ; São Paulo, Brazil. Url: https://ep.liu.se/ecp/156/002/ecp18156002.pdf

Bauer T, Conger RC, Wertz JR, Sarzi-Amadé N (2010) Design, performance, and responsiveness of a low cost micro-satellite launch vehicle. Paper presented 2010 8th Responsive Space Conference. USASMDC; Los Angeles, USA. https://ep.liu.se/ecp/156/002/ecp18156002.pdf

Bôas DJFV, Souza CHM, da Motta Silva F, Moraes A (2020) Proposal of low cost launchers for scientific missions using cubesats. Adv Space Res 66(1):162-175. https://doi.org/10.1016/j.asr.2019.12.012

Bozic O, Poppe G, Porrmann D (2014) An advanced hybrid rocket engine for an alternative upper stage of the Brazilian VLM 1 LEO launcher. Paper presented 65th International Astronautical Congress. IAF; Toronto, Canada. Url: https://elib.dlr.de/92805/

Campos DC (2004) Estudo de um método para cálculo de ganhos da malha de controle de atitude de um lançador de satélites (master’s thesis). São José dos Campos: Instituto Nacional de Pesquisas Espaciais. In Portuguese. http://mtc-m16.sid.inpe.br/col/sid.inpe.br/jeferson/2004/05.14.10.44/doc/publicacao%20(2).pdf

Cás PL, Veras CA, Shynkarenko O, Leonardi R (2019) A Brazilian space launch system for the small satellite market. Aerospace 6(11):123. https://doi.org/10.3390/aerospace6110123

Cornelisse JW, Schoyer H, Wakker KF (1979) Rocket propulsion and spaceflight dynamics. London: Pitman. Crisp N, Smith K, Hollingsworth P (2014) Small satellite launch to LEO: a review of current and future launch systems. Trans Jpn Soc Aeronaut Space Sci Aerosp Technol Jpn 12(ists29):Tf39-Tf47. https://doi.org/10.2322/tastj.12.Tf_39

Dupont C, Tromba A, Missonnier S (2019) New strategy to preliminary design space launch vehicle based on a dedicated MDO platform. Acta Astronaut 158:103-110. https://doi.org/10.1016/j.actaastro.2018.04.013

Duret F, Fabrizi A (1999) VEGA, a small launch vehicle. Acta Astronaut 44(7-12):507-514. https://doi.org/10.1016/S0094-5765(99)00090-9

Eramo V, Lavacca FG, Valente F, Pisculli A, Caporossi S (2018) Simulation and experimental evaluation of a flexible time triggered ethernet architecture applied in satellite nano/micro launchers. Aerospace 5(3):84. https://doi.org/10.3390/aerospace5030084

Ghorbani M, Pasand M, Bayati AG, Baheri N (2018) Real-time hardware-in-the-loop test for a small upper stage embedded control system. Paper presented 2018 Real-Time and Embedded Systems and Technologies. IEEE; Tehran, Iran. https://doi.org/10.1109/RTEST.2018.8397164

Greensite AL (1970) Analysis and design of space vehicle flight control systems. Vol. 2. New York: Spartan Books.

Gupta SC, Suresh BN (1988) Development of navigation guidance and control technology for Indian launch vehicles. Sadhana 12:235-249. https://doi.org/10.1007/BF02812030

Horvath G, Jones G, Joshi R (2009) A model-based approach to verification of spacecraft software using the SPIN model checker. Paper presented 2009 AIAA Space Conference & Exposition. AIAA; Pasadena, USA. https://doi.org/10.2514/6.2009-6594

Lanre AM, Fashanu TA, Osheko AC (2014) Parameterization of micro satellite launch vehicle. J Aeronaut Aerosp Eng 3(2). https://www.longdom.org/open-access/parameterization-of-micro-satellite-launch-vehicle-10202.html

Lustig M (2016) Modeling of launch vehicle during the lift-off phase in atmosphere (undergraduate thesis). Prague: Czech Technical University in Prague. https://dspace.cvut.cz/server/api/core/bitstreams/3c296cc7-f5fb-4cd3-a1f8-fe31956fa980/content

Mammen O, Nair VV, Sreenath DI (1990) Dynamic test bed for the on-board computer system of a space launch vehicle. Microprocess Microsyst 14(8):525-530. https://doi.org/10.1016/0141-9331(90)90052-W

Martínez JR, Cruz-Mendoza JÁDL, Vázquez-Martínez E, Cruz DRDL, Guerrero A (2024) Development of an optimized induction melting system for fabricating paraffin fuel grains for hybrid rocket propulsion. J Aerosp Technol Manag 16:e1350. https://doi.org/10.1590/jatm.v16.1350

Mata HOD, Falcão JBP, Avelar AC, Carvalho LMMDO, Azevedo JLF (2017) Visual experimental and numerical investigations around the VLM-1 microsatellite launch vehicle at transonic regime. J Aerosp Technol Manag 9:179-192. https://doi.org/10.5028/jatm.v9i2.676

Motta F, Pessoa Filho JB, de Oliveira Moraes A (2024) Is there a market for micro-launch vehicles? Space Policy 70:101629. https://doi.org/10.1016/j.spacepol.2024.101629

Moura WDM, dos Santos CR, Freitas MJDS, Pinto AC, Simões LP, Moraes A (2024) MicroGravity Explorer Kit (MGX): an open-source platform for accessible space science experiments. Aerospace 11(10):790. https://doi.org/10.3390/aerospace11100790

Nair AP, Selvaganesan N, Lalithambika VR (2016) Lyapunov based PD/PID in model reference adaptive control for satellite launch vehicle systems. Aerosp Sci Technol 51:70-77. https://doi.org/10.1016/j.ast.2016.01.017

Perondi LF (2023) The coming of age of space satellite industry: transitioning from a growth to a maturity life cycle phase. J Aerosp Technol Manag 15:e0323. https://doi.org/10.1590/jatm.v15.1291

Pinto AC, dos Santos CR, Pinho M, de Oliveira Moraes A, Medeiros R, Vilela SS (2025) Hybrid DCT-modal analysis-based compression of vibration signals for telemetry in sounding rockets. Meas Sci Technol 36(4). https://doi.org/10.1088/1361-6501/adc326

Pinto AC, Maciel MD, Pinho MS, Medeiros RR, Moraes AO (2023) Evaluation of lossy compression algorithms using discrete cosine transform for sounding rocket vibration data. Meas Sci Technol 34(1):015117. https://doi.org/10.1088/1361-6501/ac97fe

Samuel AA, Jayalal N, Valsa B, Ignatious CA, Zachariah JP (2013) Software fault injection testing of the embedded software of a satellite launch vehicle. IEEE Potentials 32(5):38-44. https://doi.org/10.1109/MPOT.2012.2236150

Sankar KS, Samuel AA, Jayalal N, Gopalakrishnan T (2018) Independent verification and validation strategy of RealTime EXecutive (REX) software of onboard computers of satellite launch vehicle. Paper presented 2018 2nd International Conference on Inventive Systems and Control. IEEE; Coimbatore, India. https://doi.org/10.1109/ICISC.2018.8399070

Sarhadi P, Yousefpour S (2015) State of the art: hardware in the loop modeling and simulation with its applications in design, development and implementation of system and control software. Int J Dyn Control 3:470-479. https://doi.org/10.1007/s40435-014-0108-3

Silva AG (2014) Análise e projeto de sistemas de controle de atitude para o veículo lançador de satélites (VLS) (master’s thesis). São José dos Campos: Instituto Nacional de Pesquisas Espaciais. In Portuguese. http://mtc-m21b.sid.inpe.br/col/sid.inpe.br/mtc-m21b/2014/03.06.16.40/doc/publicacao.pdf

Silveira G (2014) Desenvolvimento de uma ferramenta computacional para simulação de voo de veículos lançadores (master’s thesis). São José dos Campos: Instituto Nacional de Pesquisas Espaciais. In Portuguese. http://mtc-m21b.sid.inpe.br/col/sid.inpe.br/mtc-m21b/2014/07.02.21.27/doc/publicacao.pdf

Silveira G, Fernandes SS (2023) Trajectory optimization of the Brazilian multistage launch vehicle microlauncher-1. J Braz Soc Mech Sci Eng 45(11):564. https://doi.org/10.1007/s40430-023-04490-6

Simões LP, dos Santos CR, Moraes A (2024) A proposed methodology for assessment of Li-ion cell suitability and safety for suborbital vehicle applications. Microgravity Sci Technol 36(3):24. https://doi.org/10.1007/s12217-024-10110-2

Sun BC, Park YK, Roh WR (2007) Hardware in the loop tests for upper stage control systems of Korean space launch vehicle. Paper presented 2007 International Conference on Control, Automation and Systems. IEEE; Seoul, South Korea. https://doi.org/10.1109/ICCAS.2007.4406713

Sun BC, Park YK, Roh WR, Cho GR (2010) Attitude controller design and test of Korea space launch vehicle-I upper stage. Int J Aeronaut Space Sci 11(4):303-312. https://doi.org/10.5139/IJASS.2010.11.4.303

Tavares A (2019) Desenvolvimento e simulação de um computador de bordo para o veículo lançador de microssatélites (MICROLAUNCHER) (master’s thesis). São Luís: Universidade Estadual do Maranhão. https://repositorio.uema.br/bitstream/123456789/1252/1/Dissertação-Adalberto-Tavares-Jr-v2v-1.pdf

Wekerle T, Pessoa Filho JB, Costa LEVLD, Trabasso LG (2017) Status and trends of smallsats and their launch vehicles – An up-to-date review. J Aerosp Technol Manag 9(3):269-286. https://doi.org/10.5028/jatm.v9i3.853

Wunderlin N, Martin DJ, Pitot J, Brooks MJ (2018) Design options for a South African small-satellite launch vehicle. Paper presented 2018 Joint Propulsion Conference. AIAA; Cincinnati, USA. https://doi.org/10.2514/6.2018-4462

Downloads

Published

2026-07-20

Issue

Vol. 18 (2026)

Section

Original Paper

License

Copyright (c) 2026 Adalberto Tavares Júnior, Moisés José dos Santos Freitas, Paulo Renato Pereira Silva, Neusa Maria Franco de Oliveira

Creative Commons License

This work is licensed under a Creative Commons Attribution 4.0 International License.

This work is licensed under a Creative Commons — Attribution 4.0 International — CC BY 4.0. Authors are free to Share (copy and redistribute the material in any medium or format) and Adapt (remix, transform, and build upon the material for any purpose, even commercially). JATM allow the authors to retain publishing rights without restrictions.