Passivity-Based Attitude Control on the Special Orthogonal Group of Rigid-Body Rotations
TLDR
In this paper, a set-point controller composed of a proportional control term and an angular velocity control term is presented, which is a function of the vector measurements and a set of desired vector measurements that are used to compute the orientation error of the rigid body.Abstract:
Set-point regulation and tracking control of a rigid body is considered. The rigid body, which could be a spacecraft, underwater vehicle, or unmanned aerial vehicle, is equipped with various sensors, including those that provide unit-length vector measurements. At no point is the rotation matrix associated with the rigid-body’s orientation parameterized. The control algorithms developed in this paper are posed directly on the special orthogonal group of rigid-body rotations SO(3). The set-point controller presented is composed of a proportional control term and an angular velocity control term. The proportional control term is a function of the vector measurements and a set of desired vector measurements that are used to compute the orientation error of the rigid body. Passive systems theory is used to motivate the use of a strictly positive real angular velocity controller. The set-point regulator is robust to modeling errors associated with the mass distribution of the body. Tracking control is also con...read more
Citations
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Journal ArticleDOI
Robust Finite-time Attitude Tracking Control of Rigid Spacecraft Under Actuator Saturation
TL;DR: The proposed controllers are able to deal with system uncertainty, input singularity and actuator saturation, while simultaneously providing fast finite-time convergence speed for the control system and the problems of complex parameters selection process and repeated differentiations of nonlinear functions can be avoided.
Journal ArticleDOI
Partial Lyapunov Strictification: Smooth Angular Velocity Observers for Attitude Tracking Control
TL;DR: In this paper, a smooth angular velocity observer is proposed for the attitude tracking control of a rigid body in the absence of angular velocity measurements, which ensures asymptotic convergence of estimation errors irrespective of the control torque or the initial attitude state of the spacecraft.
Journal ArticleDOI
Integrated robust adaptive tracking control of non-cooperative fly-around mission subject to input saturation and full state constraints
Yi Huang,Yingmin Jia +1 more
TL;DR: Rigorous stability proofs show that the designed robust adaptive controller guarantees that the relative motion states not only can be restricted in the prescribed constraint regions, but also can converge into the small regions with good robustness.
Journal ArticleDOI
Global attitude stabilization of rigid spacecraft with unknown input delay
TL;DR: In this article, a Lyapunov-based controller for attitude stabilization of a rigid spacecraft with unknown actuator delay time is investigated, and it is shown that a proper design of the controller prevents the unwinding phenomenon.
Journal ArticleDOI
Inertial vector measurements based attitude synchronization control for multiple spacecraft formation
Zhong Zheng,Mouquan Shen +1 more
TL;DR: In this article, a vector measurements-based cooperative attitude synchronization control scheme is presented by using barrier Lyapunov function for multiple spacecraft with actuator and angular velocity constraints using vector measurements directly.
References
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TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
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Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
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