Adaptive attitude control with physical constraint and time-varying rotational inertia
A robust adaptive attitude controller based on dual-loop design method was proposed for controlling rigid-body attitude in the presence of time-varying rotational inertia,bounded angular velocity and control torque.To satisfy the constraint of angular velocity,the bounded virtual angular velocity was designed to ensure the kinematical equation converge rapidly,and based on barrier Lyapunov function,a variable gain adaptive attitude controller was designed to guarantee the bounded errors between real and virtual angular velocities,in which,recursive adaptive algorithm was constructed to estimate the time-varying rotational inertia and its differentiation.The results showed that the control strategy can make the attitude of the non-cooperative target spacecraft converge exponentially to the desired trajectory,and the convergence trajectory was not affected by external interference and strong interference at the moment of capture.In the entire control process,the angular velocity of the spacecraft was less than 0.4 rad/s and the control torque was less than 10 N·m,thus meeting the physical limitations of the spacecraft.
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