Attitude control of multiple rigid bodies with uncertainties and disturbances

Yuanqing Xia; Ning Zhou; Kunfeng Lu; Yong Li

doi:10.1109/JAS.2015.7032900

Attitude control of multiple rigid bodies with uncertainties and disturbances

Yuanqing Xia^*, Ning Zhou, Kunfeng Lu, Yong Li

^*Corresponding author for this work

School of Automation

Research output: Contribution to journal › Article › peer-review

22 Citations (Scopus)

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.

Original language	English
Article number	7032900
Pages (from-to)	2-10
Number of pages	9
Journal	IEEE/CAA Journal of Automatica Sinica
Volume	2
Issue number	1
DOIs	https://doi.org/10.1109/JAS.2015.7032900
Publication status	Published - 10 Jan 2015

Keywords

Attitude control
adaptive control
attitude synchronization
sliding mode control (SMC)

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10.1109/JAS.2015.7032900

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AU - Xia, Yuanqing

AU - Zhou, Ning

AU - Lu, Kunfeng

AU - Li, Yong

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N2 - 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.

AB - 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.

KW - Attitude control

KW - adaptive control

KW - attitude synchronization

KW - sliding mode control (SMC)

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Attitude control of multiple rigid bodies with uncertainties and disturbances

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Keywords

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