Inertia-free spacecraft attitude trajectory tracking with internal-model-based disturbance rejection and almost global stabilization

Amit Sanyal, Adam Fosbury, Nalin Chaturvedi, Dennis S. Bernstein

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

We derive a continuous nonlinear control law for spacecraft attitude trajectory tracking of arbitrary C1 attitude trajectories based on rotation matrices. This formulation provides almost global stabilizability, that is, Lyapunov stability 0of the desired equilibrium of the error system as well as convergence from all initial states except for a subset whose complement is open and dense. This controller thus overcomes the unwinding phenomenon associated with continuous controllers based on attitude representations, such as quaternions, that are not bijective. The controller requires no inertia information and no information on constant disturbance torques. For slew maneuvers, that is, maneuvers with a setpoint command, in the absence of disturbances, the controller specializes to the continuous, nonlinear PD-type almost globally stabilizing controller of Chaturvedi, in which case the torque inputs can be arbitrarily bounded a priori.

Original languageEnglish (US)
Title of host publication2009 American Control Conference, ACC 2009
Pages4830-4835
Number of pages6
DOIs
StatePublished - Nov 23 2009
Externally publishedYes
Event2009 American Control Conference, ACC 2009 - St. Louis, MO, United States
Duration: Jun 10 2009Jun 12 2009

Other

Other2009 American Control Conference, ACC 2009
CountryUnited States
CitySt. Louis, MO
Period6/10/096/12/09

    Fingerprint

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Sanyal, A., Fosbury, A., Chaturvedi, N., & Bernstein, D. S. (2009). Inertia-free spacecraft attitude trajectory tracking with internal-model-based disturbance rejection and almost global stabilization. In 2009 American Control Conference, ACC 2009 (pp. 4830-4835). [5160039] https://doi.org/10.1109/ACC.2009.5160039