Robust noncooperative attitude tracking control for rigid bodies on rotation matrices subject to input saturation constraint

Abstract

This paper addresses the noncooperative attitude tracking control problem for rigid bodies whose dynamics evolves on the rotation matrix SO(3). First, based on the relative attitude measurement, a saturated angular velocity input is designed by a proposed saturated nonlinear function. Thereafter, the attitude tracking control torque for rigid body's dynamics with input saturation constraint and active disturbance rejection is developed by a modified dynamic surface control approach which can avoid large torque in practice. Furthermore, by using only relative attitude measurements, two types of velocity-free attitude control laws are considered, respectively. In contrast to those control schemes that require that the desired angular velocity is available to the rigid body, the proposed scheme is able to solve the attitude control in noncooperative scenarios, where the desired angular velocity and acceleration are not accessible. Since the attitude described by rotation matrix SO(3) enables the controller to use local measurements in the body-fixed frame rather than global measurements in an inertial frame, the proposed robust noncooperative control schemes with input saturation constraint are easier to implement in practice. Finally, numerical simulations and SimMechanics experiments are provided to illustrate the effectiveness of the proposed theoretical results.

Balanced control between performance and saturation for constrained nonlinear systems

“…Saturation-constrained control: It is clear that input saturation, as a type of the most important non-smooth nonlinearities in the industrial process, can frequently degrade the system performance, and even undermine the system stability. 7 Accordingly, great attention has been paid to the control of input saturated systems, like anti-windup approach [8][9][10] and auxiliary system method, 11,12 and so forth. For the PPC under input saturation, in Reference 13, a constrained dynamic surface control with additional auxiliary system for saturation compensation was studied for the online performance-based control; in Reference 14, a different prescribed performance controller with composite performance functions was constructed to circumvent the chattering of control input with an auxiliary system avoiding the overrun of control input.…”

“…Saturation‐constrained control : It is clear that input saturation, as a type of the most important non‐smooth nonlinearities in the industrial process, can frequently degrade the system performance, and even undermine the system stability 7 . Accordingly, great attention has been paid to the control of input saturated systems, like anti‐windup approach 8‐10 and auxiliary system method, 11,12 and so forth.…”