Abstract
In this paper, a
 nonlinear robust quaternion-based controller is developed to address the
 three-axis attitude tracking control problem of rigid spacecraft in presence of
 parametric uncertainties, unknown external disturbances and sensor noise. As a
 first step, a robust controller is designed that compensates parametric
 uncertainty and disturbance effects. The robust controller then reformulated to
 deal also with sensor noise. Singularity free unit quaternions are used to
 represent the attitude of the satellite in three-dimensional space. The
 Lyapunov-based stability analysis is applied to prove that a uniformly
 ultimately bounded tracking result is achieved. Simulation results are
 presented to illustrate the feasibility of the proposed control strategy. 
Highlights
THE attitude tracking control problem of rigid bodies received much attention for decades due to its application areas ranging from robot manipulators to satellites and still continuous to be an active research area [1,2,3]
Many different control strategies including, adaptive control [5,6], sliding mode control [7,8] and robust control methods [9,10] were proposed in the literature and all these methods have their own advantages as well as disadvantages
In order to express the desired attitude of the satellite, another body-fixed reference frame Bd = {xBd, yBd, zBd} is defined. The orientation of this frame with respect to the inertial frame can be defined by the desired unit quaternion qd(t) ≜ {q0d(t), qvd(t)} ∈ R × R3 with a similar constraint given in Equation (7): qvTdqvd + q02d = 1 (13)
Summary
THE attitude tracking control problem of rigid bodies received much attention for decades due to its application areas ranging from robot manipulators to satellites and still continuous to be an active research area [1,2,3]. All the aforementioned control methods have strength against model uncertainties and/or disturbances None of these papers have considered sensor noise effects. Attitude tracking control of a rigid spacecraft in presence of parametric uncertainties, unknown disturbances and sensor noise is an important problem and should be considered together in control development, in particular for real-time implementations. A new robust attitude tracking control method that takes into account the simultaneous effects of parametric uncertainties, external disturbances and measurement noise has been proposed. To obtain a better performance in the presence of sensor noise, the former control algorithm is exploited to design the new control structure and it is shown that the proposed control method ensures uniformly bounded attitude tracking. The angular velocity of the body-fixed frame with respect to the inertial frame expressed in the bodyfixed frame can be obtained according to Equations (9) and (10) in the following form:
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