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Open Access

Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input

Xi Ma, Fuchun Sun( ), Hongbo Li, Bing He
Department of Computer Science and Technology, Tsinghua University, State Key Lab of Intelligent Technology and Systems, and Tsinghua National Laboratory for Information Science and Technology (TNList), Beijing 100084, China.
Department of Aerospace Engineering, High-Tech Institute of Xi’an, Xi’an 710025, China.
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Abstract

In this paper, the attitude control problem of rigid body is addressed with considering inertia uncertainty, bounded time-varying disturbances, angular velocity-free measurement, and unknown non-symmetric saturation input. Using a mathematical transformation, the effects of bounded time-varying disturbances, uncertain inertia, and saturation input are combined as total disturbances. A novel finite-time observer is designed to estimate the unknown angular velocity and the total disturbances. For attitude control, an observer-based sliding-mode control protocol is proposed to force the system state convergence to the desired sliding-mode surface; the finite-time stability is guaranteed via Lyapunov theory analysis. Finally, a numerical simulation is presented to illustrate the effective performance of the proposed sliding-mode control protocol.

Keywords

attitude controlinertial uncertaintyangular velocity-free measurementsaturation inputfinite-time observersliding-mode control

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Tsinghua Science and Technology
Volume 22 Issue 1,
February 2017
Pages 83-91
DOI: 10.1109/TST.2017.7830898
Cite this article:
Ma X, Sun F, Li H, et al. Attitude Control of Rigid Body with Inertia Uncertainty and Saturation Input. Tsinghua Science and Technology, 2017, 22(1): 83-91. https://doi.org/10.1109/TST.2017.7830898

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Received: 27 January 2016
Revised: 07 March 2016
Accepted: 23 September 2016
Published: 26 January 2017
© The author(s) 2017
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