adaptive backstepping finite-time attitude tracking control of spacecraft without unwinding

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• 英文论文题名：adaptive backstepping finite-time attitude tracking control of spacecraft without unwinding
• 论文作者：Bing Huang ; Aijun Li ; Yong Guo ; Changqing Wang ; Yuan Zhang
• 英文论文作者：Bing Huang ; Aijun Li ; Yong Guo ; Changqing Wang ; Yuan Zhang ; School of Automation ; Northwestern Polytchnical University
• 年：2017
• 作者机构：School of Automation,Northwestern Polytchnical University;
• 英文论文关键词：finite-time control ; unwinding ; attitude controller ; hyperbolic tangent function
• 会议召开时间：2017-07-26
• 会议录名称：第36届中国控制会议论文集（A）
• 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
• 语种：英文
• 分类号：V448.2
• 学会代码：KZLL
• 会议名称：第36届中国控制会议
• 会议地点：中国辽宁大连
• 主办单位：中国自动化学会控制理论专业委员会
• 学会名称：中国自动化学会控制理论专业委员会
• 页数：6
• 文件大小：439k
• 原文格式：D
• 会议级别：全国

摘要

This paper investigates two finite-time attitude tracking controllers for spacecraft with attitude dynamics presented by rotation matrix. With the use of rotation matrix, unwinding problem widely exists in controllers based on quaternion can be dealt with. Based on backstepping method, the first controller can be developed in the presence of external disturbance. However, the upper bound of the disturbance must be exactly known, which makes it inconvenient to implement. The second controller is constructed employing the property of hyperbolic tangent function, with which the virtual command is derived so that a finite-time convergence can be obtained. Furthermore, an adaptive law is utilized to estimate the upper bound of the disturbance online. Mathematical demonstration and simulation results validate the effectiveness of the controllers developed in this paper.
This paper investigates two finite-time attitude tracking controllers for spacecraft with attitude dynamics presented by rotation matrix. With the use of rotation matrix, unwinding problem widely exists in controllers based on quaternion can be dealt with. Based on backstepping method, the first controller can be developed in the presence of external disturbance. However, the upper bound of the disturbance must be exactly known, which makes it inconvenient to implement. The second controller is constructed employing the property of hyperbolic tangent function, with which the virtual command is derived so that a finite-time convergence can be obtained. Furthermore, an adaptive law is utilized to estimate the upper bound of the disturbance online. Mathematical demonstration and simulation results validate the effectiveness of the controllers developed in this paper.

引文

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