Robust precision attitude tracking of an uncertain rigid spacecraft based on regulation theory

He, Jiafan; Sheng, Andong; Xu, Dabo; Chen, Zhiyong; Wang, Dan

Title: Robust precision attitude tracking of an uncertain rigid spacecraft based on regulation theory
Creator: He, Jiafan; Sheng, Andong; Xu, Dabo; Chen, Zhiyong; Wang, Dan
Relation: ARC.DP150103745 http://purl.org/au-research/grants/arc/DP150103745
Relation: International Journal of Robust and Nonlinear Control Vol. 29, Issue 11, p. 3666-3683
Publisher Link: http://dx.doi.org/10.1002/rnc.4578
Publisher: John Wiley & Sons
Resource Type: journal article
Date: 2019
Description: This paper explores regulation theory for the design of robust precision attitude tracking of an uncertain rigid spacecraft with external disturbances. Focusing on the attitude system in terms of unit quaternions with an unknown inertia matrix and unmodeled input disturbances, we first introduce specific nonlinear logic such that the resultant error-quaternion system has an input-to-state stability property. Then, we establish an attitude deviation system with an output feedback normal form that has a strict vector relative degree of unity. This enables us to achieve robust output regulation based on an internal model. In particular, we can construct a high-gain stabilizer for the relevant augmented system. As a major consequence, our study achieves not only precision attitude tracking with exponential convergence but also the input-to-state stability disturbance attenuation for the closed-loop system. Finally, we show extensive simulation and experimental results to illustrate the approach. Corrigendum to: Robust precision attitude tracking of an uncertain rigid spacecraft based on regulation theory (International Journal of Robust and Nonlinear Control, (2019), 29, 11, (3666-3683), 10.1002/rnc.4578)
Subject: attitude tracking; input-to-state stability; regulation theory; rigid spacecraft
Identifier: http://hdl.handle.net/1959.13/1469922
Identifier: uon:48340
Identifier: ISSN:1049-8923
Language: eng
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