Attitude control of multiple rigid bodies with uncertainties and disturbances

Author

Yuanqing Xia ; Ning Zhou ; Kunfeng Lu ; Yong Li

Author_Institution

Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China

Volume

2

Issue

1

fYear

2015

fDate

January 10 2015

Firstpage

2

Lastpage

10

Abstract

Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm.

Keywords

Lyapunov methods; adaptive control; attitude control; decentralised control; graph theory; space vehicles; variable structure systems; Lyapunov approach; angular velocity; attitude synchronization; decentralized adaptive sliding mode control laws; decentralized attitude synchronization and tracking control; environmental disturbances; graph theory; inertia uncertainties; time-varying attitude; Angular velocity; Attitude control; Quaternions; Sliding mode control; Synchronization; Uncertainty; Vectors; Attitude control; adaptive control; attitude synchronization; sliding mode control (SMC);

fLanguage

English

Journal_Title

Automatica Sinica, IEEE/CAA Journal of

Publisher

ieee

ISSN

2329-9266

Type

jour

DOI

10.1109/JAS.2015.7032900

Filename

7032900