Authors:
Yulin Wang
;
Xiao Wang
;
Shengjing Tang
and
Jie Guo
Affiliation:
School of Aerospace and Engineering, Beijing Institute of Technology, Beijing and China
Keyword(s):
Geometric Attitude Control, SO(3), Adaptive Robust Control, Sliding-mode Control.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Modeling
Abstract:
This paper addresses the rigid body attitude tracking control on the manifold SO(3) . This modeling scheme can avoid the singularity and ambiguity associated with local parameterization representations such as Euler angles and quaternion. A robust and almost global asymptotic stability control system is designed considering the parameters uncertainty and external interference. Based on the coordinate-free geodesic attitude error scalar function with its deduced attitude and velocity error vectors, a geometric asymptotic convergent sliding-mode surface is designed firstly. Then, a geometric sliding-mode controller is introduced to enhance the robustness of the system for the low-amplitude fast-time-varying disturbances. Moreover, in order to attenuate the effect of the parameters uncertainty and slow-time-varying disturbance, two adaptive functions are employed to obtain the feedforward compensation. Comparison studies and simulation results show that the proposed controller is more p
ractical with a high accuracy, strong robustness, less chattering and simple structure.
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