Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances

Yuanqing Xia; Ning Zhou; Kunfeng Lu; Yong Li

Volume 2 Issue 1

Jan. 2015

IEEE/CAA Journal of Automatica Sinica

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Yuanqing Xia, Ning Zhou, Kunfeng Lu and Yong Li, "Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 2-10, 2015.

Citation:

Yuanqing Xia, Ning Zhou, Kunfeng Lu and Yong Li, "Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 2-10, 2015.

Yuanqing Xia, Ning Zhou, Kunfeng Lu and Yong Li, "Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 2-10, 2015.

Citation:

Yuanqing Xia, Ning Zhou, Kunfeng Lu and Yong Li, "Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances," IEEE/CAA J. of Autom. Sinica, vol. 2, no. 1, pp. 2-10, 2015.

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Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances

1. School of Automation, Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China;
2. Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing 100094, China

Funds:

This work was supported by National Basic Research Program of China (973 Program) (2012CB720002), National High Technology Research and Development Program of China (863 Program) (2012AA120601), National Natural Science Foundation of China (61225015), the Ph. D. Programs Foundation of Ministry of Education of China (20111101110012), and China Academy of Space Technology (CAST) Foundation (CAST201210).

Abstract

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.
- Attitude control,
- attitude synchronization,
- sliding mode control (SMC),
- adaptive control

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References

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Attitude Control of Multiple Rigid Bodies with Uncertainties and Disturbances

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