"Attitude Control of Rigid Body with Inertia Uncertainty and Saturation" by Xi Ma, Fuchun Sun et al.

Article Title

Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

Authors

Xi Ma, Department of Computer Science and Technology, Tsinghua University, State Key Lab of Intelligent Technology and Systems, and Tsinghua National Laboratory for Information Science and Technology (TNList), Beijing 100084, China. Department of Aerospace Engineering, High-Tech Institute of Xi’an, Xi’an 710025, China.
Fuchun Sun, Department of Computer Science and Technology, Tsinghua University, State Key Lab of Intelligent Technology and Systems, and Tsinghua National Laboratory for Information Science and Technology (TNList), Beijing 100084, China.
Hongbo Li, Department of Computer Science and Technology, Tsinghua University, State Key Lab of Intelligent Technology and Systems, and Tsinghua National Laboratory for Information Science and Technology (TNList), Beijing 100084, China.
Bing He, Department of Aerospace Engineering, High-Tech Institute of Xi’an, Xi’an 710025, China.

Keywords

attitude control, inertial uncertainty, angular velocity-free measurement, saturation input, finite-time observer, sliding-mode control

Abstract

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.

DOI

https://doi.org/10.1109/TST.2017.7830898

Publisher

Tsinghua University Press

Recommended Citation

Xi Ma, Fuchun Sun, Hongbo Li et al. Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input. Tsinghua Science and Technology 2017, 22(1): 83-91.

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