Attitude Tracking for Rigid Bodies Using Vector and Biased Gyro Measurements

• 成果类型: Article
• 署名作者: Espindola, Eduardo; Tang, Yu
• 署名单位: NingboTech University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3319460
• 发表日期: 2024
• 页码: 3254-3261
• 关键词: Attitude tracking; gyro bias estimation; vector measurements

摘要

In this article, rigid-body attitude tracking using vector measurements and gyro rate is studied. A gyro-bias observer and an attitude tracking controller are first devised, which in combination ensure the exponential stability of the desired equilibrium of the overall system. To address inertia-matrix uncertainties and external disturbances, an adaptive controller relying on a modified gyro-bias observer and a disturbance estimator are then developed. Simulations are included to illustrate the proposed adaptive controller under realistic conditions.