Abstract
In this paper, we propose a geometric control law for attitude robust control problem of a rigid body system without angular velocity measurement. We suppose there is a disturbance related to angular velocity and attitude in the system. Under appropriate controllers, the estimated values of attitude and angular velocity obtained by an angular velocity observer can converge to the true values exponentially by the Lyapunov stability theorem. Furthermore, by modifying an adaptive law for the inertia matrix, the exponential stabilization of the system can still be guaranteed without the knowledge of the true inertia matrix with the same way. The angular velocity observer we designed ensures the global exponential stability in the system. Finally, the proposed theoretical results are verified by our simulation examples.
Highlights
Rigid body doesn’t change shape, size and the distances between the mass points under pressure, which is popular in defense and civilian fields such as underwater vehicles, the unmanned aerial vehicle and gossamer spacecraft [1], [2]
Jinyu Zhaoet al.: Attitude Control for a Rigid-body with Dynamic Disturbance based on Angular Velocity Observer that disturbance is bounded and which does not have generality
Motivated by the above discussion, we study the attitude control for a rigid body system without angular velocity measurement in the presence of disturbance
Summary
Rigid body doesn’t change shape, size and the distances between the mass points under pressure, which is popular in defense and civilian fields such as underwater vehicles, the unmanned aerial vehicle and gossamer spacecraft [1], [2]. Jinyu Zhaoet al.: Attitude Control for a Rigid-body with Dynamic Disturbance based on Angular Velocity Observer that disturbance is bounded and which does not have generality. In recent years, researchers have begun to focus on the stability and tracking of rotation matrices It can be seen from the above discussion, the attitude control for a rigid body system without angular velocity measurement is a very important research problem. This problem is difficult when the disturbances exist. Motivated by the above discussion, we study the attitude control for a rigid body system without angular velocity measurement in the presence of disturbance. −x2 x1 0 The inverse of the hat map is defined as (.)∨: ςo(3) → R3
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