Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

被引：0
|
作者：
Xi Ma [1 ,2 ]
Fuchun Sun [1 ]
Hongbo Li [1 ]
Bing He [2 ]
机构：
[1] Department of Computer Science and Technology,Tsinghua University,State Key Lab of Intelligent Technology and Systems,and Tsinghua National Laboratory for Information Scienceand Technology (TNList)
[2] Department of Aerospace Engineering,High-Tech Institute of Xi’an
来源：
TsinghuaScienceandTechnology | 2017年 / 22卷 / 01期
基金：
中国国家自然科学基金;
关键词：
attitude control; inertial uncertainty; angular velocity-free measurement; saturation input; finite-time observer; sliding-mode control;
D O I：
暂无
中图分类号：
TP273 [自动控制、自动控制系统];
学科分类号：
080201 ; 0835 ;
摘要：
In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty,bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia,and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol.
引用
收藏
页码：83 / 91
页数：9
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