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Adaptive RISE control for asymptotic rigid-body attitude tracking with additive disturbances.

Haowei Wen1, Xiaokui Yue1, Zheng Wang1

  • 1National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, 710072, PR China.

ISA Transactions
|February 27, 2021
PubMed
Summary

This study introduces an adaptive Robust Integral of the Sign of the Error (RISE) control method for precise attitude tracking, even with unknown inertia and external disturbances. This novel approach achieves global asymptotic tracking without needing exact disturbance bounds.

Keywords:
Adaptive RISE controlAsymptotic convergenceAttitude trackingDynamic scaling

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering

Background:

  • Rigid-body attitude tracking is crucial for many applications.
  • Existing Robust Integral of the Sign of the Error (RISE) control methods often struggle with unknown parameters and external disturbances.
  • Establishing global asymptotic tracking without precise bounds on disturbances remains a challenge.

Purpose of the Study:

  • To develop a novel adaptive RISE control method for robust attitude tracking.
  • To address the limitations of existing RISE controllers regarding unknown inertia and external disturbances.
  • To provide a solution for global asymptotic tracking without requiring exact bounds on disturbances and their derivatives.

Main Methods:

  • A novel adaptive RISE control strategy is proposed.
  • The method incorporates a modified dynamic scaling mechanism, integration by parts, and finite escape analysis.
  • A non-certainty-equivalent adaptive formulation is utilized with minimal dynamic extensions.

Main Results:

  • The proposed method achieves global asymptotic rigid-body attitude tracking.
  • It demonstrates enhanced robustness against inertia uncertainties and bounded unstructured external disturbances.
  • Numerical simulations show superior performance compared to composite adaptive RISE methods.

Conclusions:

  • The novel adaptive RISE controller offers a robust and effective solution for attitude tracking.
  • It overcomes key limitations of previous RISE-based control schemes.
  • The controller's structure allows for flexible adjustments to transient response and chatter reduction.