Attitude control of multiple rigid bodies with uncertainties and disturbances

被引：16
|
作者：
Xia, Yuanqing [1 ]
Zhou, Ning [1 ]
Lu, Kunfeng [1 ]
Li, Yong [2 ]
机构：
[1] School of Automation, Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing,100081, China
[2] Qian Xuesen Laboratory of Space Technology, China Academy of Space Technology, Beijing,100094, China
来源：
IEEE/CAA Journal of Automatica Sinica | 2015年 / 2卷 / 01期
关键词：
Attitude control - Rigid structures - Synchronization - Graph theory - Adaptive control systems - Control theory;
D O I：
10.1109/JAS.2015.7032900
中图分类号：
学科分类号：
摘要：
Decentralized attitude synchronization and tracking control for multiple rigid bodies are investigated in this paper. In the presence of inertia uncertainties and environmental disturbances, we propose a class of decentralized adaptive sliding mode control laws. An adaptive control strategy is adopted to reject the uncertainties and disturbances. Using the Lyapunov approach and graph theory, it is shown that the control laws can guarantee a group of rigid bodies to track the desired time-varying attitude and angular velocity while maintaining attitude synchronization with other rigid bodies in the formation. Simulation examples are provided to illustrate the feasibility and advantage of the control algorithm. © 2014 Chinese Association of Automation.
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页码：2 / 10
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