Adaptive Attitude Trajectory Tracking Control of Rigid Body Dynamics

Abdelaziz Benallegue (1) , Yacine Chitour (2, 3) , Abdelhamid Tayebi (4)

1 LISV - Laboratoire d'Ingénierie des Systèmes de Versailles
2 Université Paris-Saclay
3 L2S - Laboratoire des signaux et systèmes
4 Department of Electrical Engineering [Thunder Bay]

This note presents a new adaptive attitude tracking controller for rigid body systems with unknown inertia. The proposed control scheme does not use any a priori attitude reconstruction; it explicitly incorporates, in the feedback loop, biased angular velocity measurements and body-frame measurements of some known inertial vectors. The proposed control scheme guarantees almost global asymptotic convergence of the attitude and angular velocity to their desired values.

Domaines: Optimisation et contrôle [math.OC]

Abdelaziz Benallegue, Yacine Chitour, Abdelhamid Tayebi. Adaptive Attitude Trajectory Tracking Control of Rigid Body Dynamics. 2017. ⟨hal-01507341v1⟩