There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude ...There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator （MEAE）, whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator （SEAE）, whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm.展开更多
According to the Rodrigues parameter and the internal model principle,an adaptive state feedback control law is proposed for a rigid spacecraft with inertia uncertainty and exotic disturbances generated by an unknown ...According to the Rodrigues parameter and the internal model principle,an adaptive state feedback control law is proposed for a rigid spacecraft with inertia uncertainty and exotic disturbances generated by an unknown nonlinear exosystem.The uncertainty of parameters is treated by an adaptive control law.And a new internal model is proposed to estimate the exotic disturbances.By using the Lyapunov analysis method,the control law is designed to ensure that the system's state variables asymptotically converge to stable,and the disturbances can be completely rejected.Finally,numerical simulations are included to demonstrate the performance of the presented controller.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National Natural Science Foundation of China (10572114)
文摘There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator （MEAE）, whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator （SEAE）, whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm.
基金National Natural Science Foundation of China(No.61663030,No.61663032)Natural Science Foundation of Jiangxi Province,China(No.20142BAB207021)+4 种基金the Innovation Fund Designated for Graduate Students of Jiangxi Province(YC2016-S350)the Foundation of Jiangxi Educational Committee,China(No.GJJ150753)the Open Fund of Key Laboratory of Image Processing and Pattern Recognition of Jiangxi Province,China(Nanchang Hangkong University)(No.TX201404003)Key Laboratory of Nondestructive Testing(Nanchang Hangkong University),Ministry of Education,China(No.ZD29529005)The Twelfth "Sanxiao" College Students Extracurricular Innovation and Entrepreneurship Practice and Training Project of Nanchang Hangkong University,China(No.2017ZD021)
文摘According to the Rodrigues parameter and the internal model principle,an adaptive state feedback control law is proposed for a rigid spacecraft with inertia uncertainty and exotic disturbances generated by an unknown nonlinear exosystem.The uncertainty of parameters is treated by an adaptive control law.And a new internal model is proposed to estimate the exotic disturbances.By using the Lyapunov analysis method,the control law is designed to ensure that the system's state variables asymptotically converge to stable,and the disturbances can be completely rejected.Finally,numerical simulations are included to demonstrate the performance of the presented controller.
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.
