Finite Time Stable Attitude and Angular Velocity Bias Estimation for Rigid Bodies With Unknown Dynamics

Author(s):  
Amit K. Sanyal ◽  
Rakesh R. Warier ◽  
Reza Hamrah
2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Amin Mihankhah ◽  
Ali Doustmohammadi

Purpose The purpose of this paper, is to solve the problem of finite-time fault-tolerant attitude synchronization and tracking control of multiple rigid bodies in presence of model uncertainty, external disturbances, actuator faults and saturation. It is assumed that the rigid bodies in the formation may encounter loss of effectiveness and/or bias actuator faults. Design/methodology/approach For the purpose, adaptive terminal sliding mode control and neural network structure are used, and a new sliding surface is proposed to guarantee known finite-time convergence not only at the reaching phase but also on the sliding surface. The sliding surface is then modified using a proposed auxiliary system to maintain stability under actuator saturation. Findings Assuming that the communication topology between the rigid bodies is governed by an undirected connected graph and the upper bounds on the actuators’ faults, estimation error of model uncertainty and external disturbance are unknown, not only the attitudes of the rigid bodies in the formation are synchronized but also they track the time-varying attitude of a virtual leader. Using Lyapunov stability approach, finite-time stability of the proposed control algorithms demonstrated on the sliding phase as well as the reaching phase. The effectiveness of the proposed algorithm is also validated by simulation. Originality/value The proposed controller has the advantage that the need for any fault detection and diagnosis mechanism and the upper bounds information on estimation error and external disturbance is eliminated.


2011 ◽  
Vol 35 (2) ◽  
pp. 251-267 ◽  
Author(s):  
Dany Dubé ◽  
Philippe Cardou

An accelerometer-array calibration method is proposed in this paper by which we estimate not only the accelerometer offsets and scale factors, but also their sensitive directions and positions on a rigid body. These latter parameters are computed from the classical equations that describe the kinematics of rigid bodies, and by measuring the accelerometer-array displacements using a magnetic sensor. Unlike calibration schemes that were reported before, the one proposed here guarantees that the estimated accelerometer-array parameters are globally optimum in the least-squares sense. The calibration procedure is tested on OCTA, a rigid body equipped with six biaxial accelerometers. It is demonstrated that the new method significantly reduces the errors when computing the angular velocity of a rigid body from the accelerometer measurements.


2020 ◽  
Vol 2020 ◽  
pp. 1-7 ◽  
Author(s):  
A. I. Ismail

The small parameter method was applied for solving many rotational motions of heavy solids, rigid bodies, and gyroscopes for different problems which classify them according to certain initial conditions on moments of inertia and initial angular velocity components. For achieving the small parameter method, the authors have assumed that the initial angular velocity is sufficiently large. In this work, it is assumed that the initial angular velocity is sufficiently small to achieve the large parameter instead of the small one. In this manner, a lot of energy used for making the motion initially is saved. The obtained analytical periodic solutions are represented graphically using a computer program to show the geometric periodicity of the obtained solutions in some interval of time. In the end, the geometric interpretation of the stability of a motion is given.


2009 ◽  
Vol 9 (4) ◽  
pp. 16085-16129 ◽  
Author(s):  
B. Rutherford ◽  
G. Dangelmayr ◽  
J. Persing ◽  
W. H. Schubert ◽  
M. T. Montgomery

Abstract. This paper studies Lagrangian mixing in a two-dimensional barotropic model for hurricane-like vortices. Since such flows show high shearing in the radial direction, particle separation across shear-lines is diagnosed through a Lagrangian field, referred to as R-field, that measures trajectory separation orthogonal to the Lagrangian velocity. The shear-lines are identified with the level-contours of another Lagrangian field, referred to as S-field, that measures the average shear-strength along a trajectory. Other fields used for model diagnostics are the Lagrangian field of finite-time Lyapunov exponents (FTLE-field), the Eulerian Q-field, and the angular velocity field. Because of the high shearing, the FTLE-field is not a suitable indicator for advective mixing, and in particular does not exhibit clear ridges marking the location of finite-time stable and unstable manifolds. The FTLE-field is similar in structure to the radial derivative of the angular velocity. In contrast, distinct and persisting ridges and valleys can be clearly recognized in the R-field, and their propagation speed indicates that transport across shear-lines is caused by Rossby waves. A radial mixing rate derived from the R-field gives a time-dependent measure of flux across the shear-lines. On the other hand, a measured mixing rate across the shear-lines, which counts trajectory crossings, confirms the results from the R-field mixing rate, and shows high mixing in the eyewall region after the formation of a polygonal eyewall, which continues until the vortex breaks down.


2019 ◽  
Vol 21 (4) ◽  
pp. 1522-1530
Author(s):  
Rakesh R. Warier ◽  
Amit K. Sanyal ◽  
Sasi Prabhakaran Viswanathan

Author(s):  
M. A. Gonzalez-Palacios ◽  
J. Angeles ◽  
Ch. Cai

Abstract In this paper the ruled surfaces of two rigid bodies that are in contact while moving with a prescribed time-varying angular-velocity ratio are generated. These are then used as the contact surfaces of indexing cam mechanisms. In this way, planar, spherical and spatial mechanisms can be synthesized in a unified framework. The approach is illustrated with various examples.


The motion of a rocket with its propellant exhausted and above the heights where aerodynamic forces can be used to control its motion, can be considered as that of a rigid body in free flight, subjected to small perturbations by weak aerodynamic forces. This permits the separate consideration of the motion of the centre of mass of the rocket along an approximately ‘free fall’ trajectory and the rotation of the rocket about its centre of mass. The rotational motion of free rigid bodies is well known and may be readily visualized by means of Poinsot’s construction (Corben & Stehle 1960). This analysis may be applied to the motion of a rocket with an accuracy which depends on the smallness of the residual aerodynamic forces and the time interval over which the ‘free fall’ approximation is applied. The Skylark rocket vehicle is a long axisymmetric body of approximately uniform mass per unit length. The momental ellipsoid of such a body is a long ellipsoid of revolution with its major axis along the spin axis of the rocket. In this case, the angular motion will consist only of roll and regular precession. In the early stages of the flight the rocket is given some spin motion by aero­dynamic forces on the fins. The angle between the geometrical axis of the rocket and the angular momentum vector is small and can change only slowly because of the aerodynamic forces which are important during the initial stages of the flight. The rate of precession of the rocket axis is much smaller than the rate of spin. In these circumstances, the angular motion will be as shown in figure 11 and can be regarded as roll about the vehicle axis OV with angular velocity ω and precession of this axis about an invariant direction OC with angular velocity Ω. The semi-angle, COV = ρ , of the precession cone is given by cos p = I L / I T ω / Ω , where I L and I T are the moments of inertia about longitudinal and transverse axes passing through the centre of mass.


2000 ◽  
Vol 122 (4) ◽  
pp. 669-673 ◽  
Author(s):  
T. Floquet ◽  
W. Perruquetti ◽  
J.-P. Barbot

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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