This paper studies the finite-time attitude control problem for a rigid body. It is known that linear asymptotically stabilizing control laws can be derived from passivity properties for the system which describes the...This paper studies the finite-time attitude control problem for a rigid body. It is known that linear asymptotically stabilizing control laws can be derived from passivity properties for the system which describes the kinematic and dynamic motion of the attitude. Our approach expands this framework by defining finite-time passivity and exploring the corresponding properties.For a rigid body, the desired attitude can be tracked in finite time using the designed finite-time attitude control law. Some finitetime passivity properties for the feedback connection systems are also shown. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.展开更多
In this paper,a fully-actuated system approach(FASA)based control method is proposed for rigid spacecraft attitude tracking with actuator saturation.First,a second-order fully-actuated form of spacecraft attitude erro...In this paper,a fully-actuated system approach(FASA)based control method is proposed for rigid spacecraft attitude tracking with actuator saturation.First,a second-order fully-actuated form of spacecraft attitude error model is established by modified Rodrigues parameters(MRPs).The unknown total disturbance caused by inertial uncertainty and external disturbance is estimated by using extended state observer,then an FASA based controller is developed.Further,a control parameterization method is adopted to optimize the parameter matrices of FASA based controller with the actuator saturation.Finally,a numerical example is carried out to validate the effectiveness of the proposed scheme.展开更多
基金supported by National Natural Science Foundation(NNSF)of China(61374033)
文摘This paper studies the finite-time attitude control problem for a rigid body. It is known that linear asymptotically stabilizing control laws can be derived from passivity properties for the system which describes the kinematic and dynamic motion of the attitude. Our approach expands this framework by defining finite-time passivity and exploring the corresponding properties.For a rigid body, the desired attitude can be tracked in finite time using the designed finite-time attitude control law. Some finitetime passivity properties for the feedback connection systems are also shown. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.
基金This research was supported by the National Natural Science Foundation of China under Grant No.61903312Huiyan Project for Research on Innovation and Application of Space Science and Technology under Grant No.CD2B65B6.
文摘In this paper,a fully-actuated system approach(FASA)based control method is proposed for rigid spacecraft attitude tracking with actuator saturation.First,a second-order fully-actuated form of spacecraft attitude error model is established by modified Rodrigues parameters(MRPs).The unknown total disturbance caused by inertial uncertainty and external disturbance is estimated by using extended state observer,then an FASA based controller is developed.Further,a control parameterization method is adopted to optimize the parameter matrices of FASA based controller with the actuator saturation.Finally,a numerical example is carried out to validate the effectiveness of the proposed scheme.
