Adaptive tracking control using synthesized velocity from attitude measurements (Q5935489)

The attitude motion of the spacecraft is described by two equations NEWLINE\[NEWLINE J\dot\omega=-\omega\times J\omega+\tau, \quad \dot q=T(q)\omega, NEWLINE\]NEWLINE 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.