- 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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