Adaptive quaternion tracking with nonlinear extended state observer

作者：Bai, Yu-liang^*; Wang, Xiao-gang^*; Xu, Jiang-tao; Cui, Nai-gang

来源：Acta Astronautica, 2017, 139: 494-501.

DOI：10.1016/j.actaastro.2017.07.010

• Adaptive quaternion tracking control
• Nonlinear extended state observer
• Nano-spacecraft

This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. 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 and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

• 出版日期2017-10
• 单位哈尔滨工业大学; 哈尔滨工程大学