Attitude consensus using quaternion-based controller composing augmented dynamic

Abstract

Nonlinearity of dynamics and kinematics, difficulty in stability guarantee and unwinding phenomenon problem make quaternion-based attitude control system design is a non trivial problem. The non triviality is increase in the design of attitude consensus of rigid bodies in a group. This paper provides a distributed controller that depends on information-state for attitude consensus among a group of rigid bodies. The controller is developed based on continuous quaternion-based attitude controller composing augmented dynamic. The designed attitude consensus has global motion to rest and rest to rest maneuver properties. Simulation run verifies that unwinding phenomenon can be avoided.

Asymptotic Stability of Quaternion-based Attitude Control System with Saturation Function

“…This fact implies difficulties on the stability guarantee of the quaternion based attitude control system [6]. 1995 Many research efforts have been addressed on the design of quaternion based attitude control system: MacKunis et al in [7] developed an adaptive neural network based attitude controller for satellite that is actuated by control moment gyros, where external disturbance as well as disturbance of the control moment gyros' tachometer are considered; Calvo et al proposed an adaptive fuzzy controller for momentum wheel actuated satellite and its performance is compared with a custom PD controller [8]; in [9], Septanto et al proposed a continuous scheme of quaternion based controller that employs augmented dynamic; to name a few. In [10], a continuous scheme of quaternion-based control system that has saturation function is also proposed with boundedness of solution guarantee.…”

“…The main objective of this paper is to find necessary conditions of the system that consists of the rigid spacecraft (2) and the controller (9) such that asymptotic stability guarantee as in Definition 1 is achieved. Through Lyapunov stability method, conditions of the attitude control system parameters will be resulted.…”

Linear Continuous Sliding Mode-based Attitude Controller with Modified Rodrigues Parameters Feedback

“…Nevertheless, MRP can represent orientation between −360 0 and 360 0 that cannot be conducted by Euler angles. Besides, its feedback control does not exhibit an unwinding phenomenon that may occur with quaternion representation [6]. Hence, this work is focused on the attitude Final version.…”