自适应混合全局姿态跟踪控制器

IF 3.7 2区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Nonlinear Analysis-Hybrid Systems Pub Date : 2024-11-15 DOI:10.1016/j.nahs.2024.101555

João Pedro Silvestre , Pedro Casau , Paulo Oliveira

{"title":"自适应混合全局姿态跟踪控制器","authors":"João Pedro Silvestre , Pedro Casau , Paulo Oliveira","doi":"10.1016/j.nahs.2024.101555","DOIUrl":null,"url":null,"abstract":"<div><div>In this paper, a quaternion-based attitude tracking controller is presented, which is robust to measurement noise and adaptable to modeling errors and external disturbances. By constructing the controller using the theory of hybrid systems and employing the backstepping technique an adaptive controller that globally asymptotically stabilizes the null tracking error set for the closed-loop system is obtained. Furthermore, two estimators are explicitly derived to account for slowly time-varying or constant disturbances and moment of inertia errors. All the stability and convergence properties are carefully proven using Lyapunov stability theory for hybrid systems. Simulation results are shown to assess the resulting closed-loop system performance.</div></div>","PeriodicalId":49011,"journal":{"name":"Nonlinear Analysis-Hybrid Systems","volume":"55 ","pages":"Article 101555"},"PeriodicalIF":3.7000,"publicationDate":"2024-11-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Adaptive hybrid global attitude tracking controller\",\"authors\":\"João Pedro Silvestre , Pedro Casau , Paulo Oliveira\",\"doi\":\"10.1016/j.nahs.2024.101555\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>In this paper, a quaternion-based attitude tracking controller is presented, which is robust to measurement noise and adaptable to modeling errors and external disturbances. By constructing the controller using the theory of hybrid systems and employing the backstepping technique an adaptive controller that globally asymptotically stabilizes the null tracking error set for the closed-loop system is obtained. Furthermore, two estimators are explicitly derived to account for slowly time-varying or constant disturbances and moment of inertia errors. All the stability and convergence properties are carefully proven using Lyapunov stability theory for hybrid systems. Simulation results are shown to assess the resulting closed-loop system performance.</div></div>\",\"PeriodicalId\":49011,\"journal\":{\"name\":\"Nonlinear Analysis-Hybrid Systems\",\"volume\":\"55 \",\"pages\":\"Article 101555\"},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-11-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Nonlinear Analysis-Hybrid Systems\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S1751570X2400092X\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Nonlinear Analysis-Hybrid Systems","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S1751570X2400092X","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

摘要

本文提出了一种基于四元数的姿态跟踪控制器，它对测量噪声具有鲁棒性，并能适应建模误差和外部干扰。通过使用混合系统理论构建控制器，并采用反步进技术，得到了一个自适应控制器，该控制器可在全局上渐近稳定闭环系统的空跟踪误差集。此外，还明确推导出两个估计器，以考虑缓慢时变或恒定的干扰和惯性矩误差。利用混合系统的 Lyapunov 稳定性理论，对所有稳定性和收敛性进行了仔细证明。仿真结果显示了对所产生的闭环系统性能的评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Adaptive hybrid global attitude tracking controller

In this paper, a quaternion-based attitude tracking controller is presented, which is robust to measurement noise and adaptable to modeling errors and external disturbances. By constructing the controller using the theory of hybrid systems and employing the backstepping technique an adaptive controller that globally asymptotically stabilizes the null tracking error set for the closed-loop system is obtained. Furthermore, two estimators are explicitly derived to account for slowly time-varying or constant disturbances and moment of inertia errors. All the stability and convergence properties are carefully proven using Lyapunov stability theory for hybrid systems. Simulation results are shown to assess the resulting closed-loop system performance.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Nonlinear Analysis-Hybrid Systems AUTOMATION & CONTROL SYSTEMS-MATHEMATICS, APPLIED

CiteScore

8.30

自引率

9.50%

发文量

审稿时长

>12 weeks

期刊介绍： Nonlinear Analysis: Hybrid Systems welcomes all important research and expository papers in any discipline. Papers that are principally concerned with the theory of hybrid systems should contain significant results indicating relevant applications. Papers that emphasize applications should consist of important real world models and illuminating techniques. Papers that interrelate various aspects of hybrid systems will be most welcome.