Globally convergent adaptive tracking of spacecraft angular velocity with inertia identification and adaptive linearization
Sanyal, A.K.
Chellappa, M.
Valk, J.L.
Ahmed, J.
Jinglai Shen
Bernstein, D.S.
Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA;
This paper appears in: Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Publication Date: 9-12 Dec. 2003
Volume: 3,
On page(s): 2704- 2709 Vol.3
ISSN: 0191-2216
ISBN: 0-7803-7924-1
INSPEC Accession Number: 8037740
Digital Object Identifier: 10.1109/CDC.2003.1273032
Current Version Published: 2004-03-15
Abstract
The problem of a rigid body tracking a desired angular velocity trajectory is addressed using adaptive feedback control. An adaptive controller is developed for a planar rotating body tracking a desired angular velocity command. Lyapunov analysis is used to show that tracking is achieved globally. A periodic angular velocity command is then used to identify the inertia parameter. The adaptive controller is implemented on a triaxial attitude control testbed with fan thrusters. A piecewise linear approximation of an observed input nonlinearity is inverted to obtain improved angular velocity tracking and inertia identification. To eliminate residual tracking error, an adaptive algorithm is used for improved feedback linearization. Lyapunov analysis is used to show boundedness of the angular velocity and inertia estimate errors. The approach is validated by numerical simulation.
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
