Robust attitude tracking with exponential convergence

Liu, Yicheng; Zhang, Tao; Li, Chang-Jiu; Liang, Bin

doi:10.1049/iet-cta.2017.0360

Cited by 10 publications

(3 citation statements)

References 24 publications

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“…This parameter is used to reassign the desired trajectory q d according to the initial condition ε 0 (0) to the same hemisphere as the spacecraft quaternion so that the spacecraft attitude tracks the desired attitude by following the shortest path. Similar reassignment was used in [61,62]. Figure 1 illustrate these attitude errors in the Euclidean space R 4 .…”

Section: Control Objectivesmentioning

confidence: 96%

A Novel Four-DOF Lagrangian Approach to Attitude Tracking for Rigid Spacecraft

Eduardo¹,

Tao²

2022

Preprint

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This paper presents a novel Lagrangian approach to attitude tracking for rigid spacecraft using unit quaternions, where the motion equations of a spacecraft are described by a four degrees of freedom Lagrangian dynamics subject to a holonomic constraint imposed by the norm of a unit quaternion. The basic energy-conservation property as well as some additional useful properties of the Lagrangian dynamics are explored, enabling to develop quaternion-based attitude tracking controllers by taking full advantage of a broad class of tracking control designs for mechanical systems based on energy-shaping methodology. Global tracking of a desired attitude on the unit sphere is achieved by designing control laws that render the tracking error on the four-dimensional Euclidean space to converge to the origin. The topological constraints for globally exponentially tracking by a quaternion-based continuous controller and singularities in controller designs based on any three-parameter representation of the attitude are then avoided. Using this approach, a full-state feedback controller is first developed, and then several important issues, such as robustness to noise in quaternion measurements, unknown on-orbit torque disturbances, uncertainty in the inertial matrix, and lack of angular-velocity measurements are addressed progressively, by designing a hybrid statefeedback controller, an adaptive hybrid state-feedback controller, and an adaptive hybrid attitude-feedback controller. Global asymptotic stability is established for each controller. Simulations are included to illustrate the theoretical results.

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Section: Control Objectivesmentioning

confidence: 96%

A Novel Four-DOF Lagrangian Approach to Attitude Tracking for Rigid Spacecraft

Eduardo¹,

Tao²

2022

Preprint

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“…Besides he extended the application of similar skew‐symmetric structure from autonomous case to nonautonomous case. After that, Liu 19p resented an adaptive attitude tracking controller with external disturbances and unknown inertia parameters based on a similar skew‐symmetric structure. Based on similar skew‐similar structure, Yi 20 designed a controller for rigid spacecraft, and arbitrarily fast response can be obtained by conveniently regulating the related parameters in the proposed controller.…”

Section: Introductionmentioning

confidence: 99%

Anti‐unwinding adaptive spacecraft attitude tracking control based on similar skew‐symmetric structures

Yang

et al. 2022

Intl J Robust & Nonlinear

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This article addresses the adaptive attitude tracking control based on similar skew-symmetric structure. Based on the structure, a novel adaptive backstepping scheme is proposed to design the attitude controller. To avoid unwinding, a rotation matrix rather than a quaternion is used to describe the attitude. Correspondingly, the application of similar skew-symmetric structure is extended from euclidean space to noneuclidean space, for which the stability is proved by combining the Lyapunov function and the Morse-Lyapunov function. In addition, the smooth projection function is adopted to design the adaptive law for the unknown parameters. And the input-to-state stable property of the closed-loop system is proved when considering the unmodeled disturbance. Finally, numerical simulations are carried out to illustrate the effectiveness of the proposed controllers.

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“…The set of attitudes is the set of 3 × 3 orthogonal matrices ' the space SO(3) which is not Euclidean [2]- [4]. Various attitude parameterisations are developed to describe the attitude such as Euler angles [5], quaternions [6], axis-angle [7], Rodrigues parameters [8], modified Rodrigues parameters [9]. However, all parameterisations fail to represent the set of attitudes both globally and uniquely [10].…”

Section: Introductionmentioning

confidence: 99%

Attitude tracking control for observation spacecraft flying around the target spacecraft

Yang

et al. 2021

IET Control Theory & Appl

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This paper addresses the attitude tracking problem of observation spacecraft, which is traveling around the target spacecraft. To observe the target spacecraft completely, view planning technology is used to select the optimal viewpoints where the observation spacecraft need to achieve and scans the target spacecraft. The desired attitude and desired angular velocity are determined by the relative location and relative velocity of the observation spacecraft with respect to the target spacecraft. The attitude tracking model are globally and uniquely described in the space of SO(3) × R 3 . Based on the sliding mode method, a nonlinear feedback controller is designed to track the desired attitude and desired angular velocity. The convergence and stability of the closed-loop system are assured by Morse-Lyapunov theorem and LaSalle's theorem. Moreover, it is proved that the attitude error and angular velocity error converge to a tolerable error interval regardless of actuator misalignment, uncertainties of the inertia matrix and external disturbed torque. In addition, the convergence interval is determined by the parameter setting in the controller. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed controller.

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Robust attitude tracking with exponential convergence

Cited by 10 publications

References 24 publications

A Novel Four-DOF Lagrangian Approach to Attitude Tracking for Rigid Spacecraft

A Novel Four-DOF Lagrangian Approach to Attitude Tracking for Rigid Spacecraft

Anti‐unwinding adaptive spacecraft attitude tracking control based on similar skew‐symmetric structures

Attitude tracking control for observation spacecraft flying around the target spacecraft

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