Adaptive tracking control using synthesized velocity from attitude measurements (Q5935489): Difference between revisions

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Revision as of 17:41, 3 June 2024

scientific article; zbMATH DE number 1610351
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English
Adaptive tracking control using synthesized velocity from attitude measurements
scientific article; zbMATH DE number 1610351

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    Adaptive tracking control using synthesized velocity from attitude measurements (English)
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    4 November 2002
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    The attitude motion of the spacecraft is described by two equations \[ J\dot\omega=-\omega\times J\omega+\tau, \quad \dot q=T(q)\omega, \] where \(\omega(t)\in\mathbb{R}^3\) is the angular velocity of the spacecraft in a body-fixed frame, \(J\in\mathbb{R}^3\times\mathbb{R}^3\) is the spacecraft constant inertia matrix, \(\tau(t)\in\mathbb{R}^3\) is the control torque input and \(q(t)\in\mathbb{R}^3\) represents the modified Rodrigues parameters describing the spacecraft attitude with respect to an inertial frame. Let \(q_d(t)\) and \(q(t)\) be desired and measured attitude trajectories. The functions \(\dot q(t), \omega(t)\) are not measured, the matrix \(J\) is unknown. The problem is to design the control input \(\tau\) such that \(\lim_{t\to\infty}q(t)\to q_d(t)\). An adaptive controller is proposed. It uses a high-pass filter to generate a pseudo-velocity tracking error signal and an adaptive update law accounting for inertia uncertainty.
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    attitude tracking
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    adaptive control
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    output feedback
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    spacecraft
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    modified Rodrigues parameters
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