Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

查看全文 作　　者：Xi [1,2]Ma;Fuchun [1]Sun;Hongbo [1]Li;Bing [2]He

机构地区：[1]Department of Computer Science and Technology,Tsinghua University,State Key Lab of Intelligent Technology and Systems,and Tsinghua National Laboratory for Information Scienceand Technology (TNList);[2]Department of Aerospace Engineering,High-Tech Institute of Xi’an

出　　处：《Tsinghua Science and Technology》索引2017年第22卷第1期,共9页

基　　金：supported by the National Natural Science Foundation of China (No. 61403399) 摘　　要：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. 关键词：姿态控制饱和输入不确定性惯性刚体 LYAPUNOV理论控制协议时间稳定性

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Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

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