Adaptive Attitude Tracking Control of Rigid Body Systems with Unknown Inertia and Gyro-bias

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 and unknown gyrobias, using inertial vector measurements. The proposed control scheme guarantees almost global asymptotic convergence of the attitude and angular velocity to their desired values. Simulation results are provided to illustrate the effectiveness of the proposed approach.

Domaines: Optimisation et contrôle [math.OC]

Abdelaziz Benallegue, Yacine Chitour, Abdelhamid Tayebi. Adaptive Attitude Tracking Control of Rigid Body Systems with Unknown Inertia and Gyro-bias. IEEE Transactions on Automatic Control, 2018, 63 (11), pp.3986-3993. ⟨10.1109/tac.2018.2808443⟩. ⟨hal-01507341v2⟩