Abstract
In this paper, the attitude tracking control problem for rigid spacecraft is investigated in the presence of parameter uncertainties and external disturbances. An extended state observer is designed to estimate the parameter uncertainties and external disturbances. Then, by using the obtained estimation, a robust finite-time controller is proposed to achieve attitude tracking for the rigid spacecraft via the backstepping technique. The practical finite-time stability of the closed-loop system under the presented controller is proven by the Lyapunov stability theory. Finally, some simulation results are provided to illustrate the effectiveness and superiority of the proposed controller compared with some existing control schemes.
Highlights
The attitude tracking control for rigid spacecraft has already attracted a great deal of interests during the last decades
The objective of this paper is to design a controller to achieve attitude tracking for a rigid spacecraft with parameter uncertainties and external disturbances, i.e., to drive the Modified Rodrigues Parameters (MRPs) σ = [σ1 σ2 σ3]T and the angular velocity = [ 1 2 3]T from any initial condition to a desired attitude MRPs σd = [σd1 σd2 σd3]T and an angular velocity d = [ d1 d2 d3]T, respectively
These results further demonstrate that the RFTC (35) with the extended state observer (ESO) (21) can guarantee the practical finite-time stability of the closed-loop system and maintain satisfactory performance for the rigid spacecraft (1) when there exist inertial parameter uncertainties and external disturbances simultaneously
Summary
The attitude tracking control for rigid spacecraft has already attracted a great deal of interests during the last decades. Various nonlinear control methods for attitude tracking have been developed for rigid spacecraft with priori-known model parameters, such as nonlinear feedback control [1], [2], optimal control [3], [4], robust control [5], [6], or their integration [7]–[9]. The parameter uncertainties of the spacecraft should not be ignored when an attitude maneuver control system is designed. Attitude tracking control of spacecraft systems with the parameter uncertainties and the external disturbances has been extensively studied. An adaptive finite-time controller was employed in [11] for the attitude tracking of a rigid spacecraft with external disturbances.
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