Anti-Unwinding Immersion and Invariance Adaptive Attitude Control of Rigid Spacecraft with Inertia Uncertainties

Fault‐tolerant adaptive tracking control for spacecraft attitude with asymptotic convergence

“…In order to better reveal the superiority of the proposed algorithm, several simulations are performed among the proposed controller, classic PD controller the immersion and invariance (I&I)-based controller in [11,42].…”

“…In order to better reveal the superiority of the proposed algorithm, several simulations are performed among the proposed controller, classic PD controller and the immersion and invariance (I&I)‐based controller in [11, 42]. Here, we consider the attitude stabilization case with healthy actuator for ease of comparison by just taking $$$ {\boldsymbol{q}}_d={\left[1,0,0,0\right]}^{\top } $$$ and $$$ {\boldsymbol{\omega}}_d={\left[0,0,0\right]}^{\top } $$$.…”

“…In the case with the absence of inertia parameters, nonlinear adaptive control methodology has been widely studied due to its robustness against parametric uncertainty in attitude tracking control field [11]. Through a parameter estimator‐based control framework, the asymptotic tracking performance can be achieved.…”