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A Quaternion-Based Adaptive Attitude Tracking Controller Without Velocity Measurements'
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TLDR
In this paper, an adaptive, full-state feedback controller is proposed to compensate for parametric uncertainty while ensuring asymptotic attitude tracking errors, without the need for angular velocity measure-ments.Abstract:
The main problem addressed in this paper is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, we first de- sign an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measure- ments is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking.read more
Citations
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Journal ArticleDOI
Survey of nonlinear attitude estimation methods
TL;DR: A survey of modern nonlinear filtering methods for attitude estimation based on the Gaussian assumption that the probability density function is adequately specified by its mean and covariance is provided.
Journal ArticleDOI
Attitude stabilization of rigid spacecraft with finite‐time convergence
TL;DR: In this article, two sliding mode controllers are proposed to force the state variables of the closed-loop system to converge to the origin in finite time, and the second control design consists of the estimation of the uncertainty and disturbance by adaptive method and thus it achieves the decrease of undesired chattering effectively.
Journal ArticleDOI
Unit Quaternion-Based Output Feedback for the Attitude Tracking Problem
TL;DR: A quaternion-based dynamic output feedback for the attitude tracking problem of a rigid body without velocity measurement that guarantees almost global asymptotic stability which is as strong as the topology of the motion space can permit.
Journal ArticleDOI
Fault-Tolerant Prescribed Performance Attitude Tracking Control for Spacecraft Under Input Saturation
TL;DR: It is shown that the control algorithm developed not only achieves the stable attitude tracking with prescribed behavioral metrics but also guarantees the boundedness of all the closed-loop signals.
Proceedings ArticleDOI
Nonlinear Attitude Filtering Methods
TL;DR: A survey of modern nonlinear filtering methods for attitude estimation can be found in this paper, where a two-step approach is discussed with a first-step state that linearizes the measurement model and an iterative second-step to recover the desired attitude states.
References
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Book
Spacecraft Attitude Dynamics
TL;DR: In this article, the effect of internal energy dissipation on the Directional Stability of Spinning Bodies was investigated in the context of gyroscope-based spin stabilization in Orbit and dual-stabilization in Orbit.
Journal ArticleDOI
The attitude control problem
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Book
Quaternions and Rotation Sequences
TL;DR: In this paper, the quaternion rotation operator is introduced and defined, and a brief introduction to its properties and algebra is given, as well as its primary application, which is to compete with the conventional matrix rotation operator in a variety of rotation sequences.
Journal ArticleDOI
Attitude control without angular velocity measurement: a passivity approach
Fernando Lizarralde,John T. Wen +1 more
TL;DR: This note shows that the angular velocity feedback can be replaced by a nonlinear filter of the quaternion, thus removing the need for direct angular velocity measurement, and exploits the inherent passivity of the system.