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Vector‐Based Adaptive Attitude Observer and Controller on Special Orthogonal Group
Author(s) -
Lu Xuhui,
Jia Yingmin,
Matsuno Fumitoshi
Publication year - 2017
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1401
Subject(s) - control theory (sociology) , observer (physics) , inertia , controller (irrigation) , mathematics , scheme (mathematics) , computer science , artificial intelligence , control (management) , physics , quantum mechanics , agronomy , biology , mathematical analysis , classical mechanics
An adaptive attitude observer‐controller scheme is proposed for attitude tracking of a rigid body. In the derived observer, the vector measurements are directly utilized to estimate gyro bias, and thus estimates of gyro bias are obtained independent to attitude estimates. The proposed observer is even robust towards fluctuation of gyro bias. Then an adaptive controller is proposed on the Special Orthogonal Group to track the reference trajectory subject to uncertain inertia parameters. This controller belongs to the non‐certainty‐equivalent framework, and the vector signals are also utilized into estimation of inertia parameters. It is ensured that the estimates of inertia parameters can converge towards real values to some degrees. Simulation results compared with previous observer and controller schemes verify the effectiveness of the proposed scheme.