Finite-time angular velocity observers for rigid-body attitude tracking with bounded inputs

2016 ◽  
Vol 27 (1) ◽  
pp. 15-38 ◽  
Author(s):  
Haichao Gui ◽  
George Vukovich
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Body Attitude ◽  
Attitude Tracking

scholarly journals Rigid-body attitude control guaranteeing finite-time convergence

2020 ◽  
pp. 002029402095247
Author(s):  
Shenhao Li ◽  
Taotao Zhang
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Attitude Control ◽  
Simple Structure ◽  
Fault Tolerant ◽  
Rotation Velocity ◽  
Sliding Surface ◽  
Body Attitude ◽  
Velocity Constraint

This study proposes an effective solution to the problem of attitude control for a rigid body satisfying angular velocity constraint as well as providing fault-tolerant capability. More specifically, a finite-time sliding surface containing attitude quaternion and angular velocity is first defined. Then, a novel tan-type prescribed performance control (PPC) with simple structure is presented to confine the sliding surface within a predefined performance boundary. Not only the attitude quaternion and angular velocity are indirectly constrained, but also it is thoroughly proved that the rotation velocity constraint is met even when severe actuators faults occur. The closed-loop attitude system is confirmed to be finite-time stable in the sense of Lyapunov stability. Numerical simulations clearly illustrate the effectiveness and usefulness of the suggested finite-time PPC despite actuator faults and environmental disturbances.

Adaptive RISE control for asymptotic rigid-body attitude tracking with additive disturbances

2021 ◽  
Author(s):  
Haowei Wen ◽  
Xiaokui Yue ◽  
Zheng Wang ◽  
Xin Wang ◽  
Dongdong Xia
Keyword(s):  
Rigid Body ◽  
Body Attitude ◽  
Attitude Tracking

Angular Velocity Stabilization of a Rigid Body Via VSS Control

2000 ◽  
Vol 122 (4) ◽  
pp. 669-673 ◽  
Author(s):  
T. Floquet ◽  
W. Perruquetti ◽  
J.-P. Barbot
Keyword(s):  
Angular Velocity ◽  
Rigid Body ◽  
Finite Time ◽  
Sliding Mode ◽  
Variable Structure ◽  
External Disturbances ◽  
First Order ◽  
Finite Time Convergence ◽  
Sliding Mode Controllers ◽  
Second Order Sliding Mode

This paper is devoted to the stabilization of the angular velocity of a rigid body via variable structure based controllers. The system is supposed to have only two control torques and to be subject to external disturbances. A finite time convergence is obtained by switching between a first-order and a second-order sliding mode controllers. [S0022-0434(00)00304-X]

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