### 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.

Original language | English (US) |
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Pages (from-to) | 2704-2709 |

Number of pages | 6 |

Journal | Proceedings of the IEEE Conference on Decision and Control |

Volume | 3 |

State | Published - Dec 1 2003 |

Externally published | Yes |

Event | 42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: Dec 9 2003 → Dec 12 2003 |

### ASJC Scopus subject areas

- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization

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## Cite this

*Proceedings of the IEEE Conference on Decision and Control*,

*3*, 2704-2709.