Title :
Passivity-based adaptive attitude control of a rigid spacecraft
Author :
Egeland, O. ; Godhavn, J.-M.
Author_Institution :
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fDate :
4/1/1994 12:00:00 AM
Abstract :
An adaptive control scheme for the attitude control of a rigid spacecraft is derived using a linear parameterization of the equation of motion. The tracking error is described with the Euler parameter vector. Global convergence of the tracking error to zero is shown using passivity theory. This allows for the use of time-varying positive-definite feedback gain matrices, and the results can easily be extended to other passive parameter update laws
Keywords :
adaptive control; aerospace control; attitude control; convergence; feedback; Euler parameter vector; adaptive control; attitude control; global convergence; linear parameterization; motion equation; passive parameter update laws; passivity theory; rigid spacecraft; time varying positive definite feedback gain matrices; tracking error; Adaptive control; Convergence; Equations; Feedback; Manipulators; Orbital robotics; Programmable control; Robot control; Robot kinematics; Space vehicles;
Journal_Title :
Automatic Control, IEEE Transactions on
