Adaptive Quaternion Tracking with Nonlinear Disturbance Rejection
Authors: 
Changmao Qin, Tian Dong, Juan Liu, Weizhe LiAuthors Info & Claims
Changmao Qin, Tian Dong, Juan Liu, Weizhe LiAuthors Info & ClaimsPages 542 - 548
Abstract
This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia, environmental disturbances and reaction wheel friction. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy, convergence and tracking error when compared to a conventional attitude controller. In addition the control is shown to provide a significant increase in pointing accuracy of a nano-spacecraft in the presence of reaction wheel friction. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.
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Index Terms
- Adaptive Quaternion Tracking with Nonlinear Disturbance Rejection
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February 2020
607 pages
ISBN:9781450376426
DOI:10.1145/3383972
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Published: 26 May 2020
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ICMLC 2020
ICMLC 2020: 2020 12th International Conference on Machine Learning and Computing
February 15 - 17, 2020
Shenzhen, China
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