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