Attitude Tracking Control of a Quadrotor UAV Based on the Contracting Angular Velocity Observer

2018 ◽  
Author(s):  
Liu Yeqiu ◽  
Ji Haibo ◽  
Di Jian
Keyword(s):  
Angular Velocity ◽  
Tracking Control ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Velocity Observer ◽  
Attitude Tracking Control

Velocity-free attitude tracking for rigid spacecraft via bounded control

2021 ◽  
pp. 095441002110423
Author(s):  
Jian Zhang ◽  
Wen-Jie Wu ◽  
Long Liu ◽  
Dai Liu
Keyword(s):  
Angular Velocity ◽  
Tracking Control ◽  
Input Saturation ◽  
Control Law ◽  
Input Constraints ◽  
Bounded Control ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Rigid Spacecraft ◽  
Attitude Tracking Control

This article investigates the attitude tracking control problem for a rigid spacecraft without angular velocity feedback, in which external disturbances, parametric uncertainties, and input saturation are considered. Initially, an angular velocity observer is developed incorporated with adaptive technique, which could tackle the unmeasurable angular velocity and system uncertainties simultaneously. By introducing adaptive updating law into the proposed observer, the synchronized uncertainties are handled such that robustness of the observer is enhanced, even in the presence of external disturbances. Further, for solving the input constraints problem, command filter and backstepping method are utilized; thus, a bounded attitude tracking control law is derived. Finally, the attitude tracking performance is evaluated by numerical examples.

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