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Adaptive quaternion tracking with nonlinear extended state observer

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Abstract This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined… Click to show full abstract

Abstract This paper addresses the problem of attitude tracking for spacecraft in the presence of uncertainties in moments of inertia and environmental disturbances. An adaptive quaternion tracking control is combined with a nonlinear extended state observer and the disturbances compensated for in each sampling period. The tracking controller is proved to asymptotically track a prescribed motion in the presence of these uncertainties. Simulations of a nano-spacecraft demonstrate a significant improvement in pointing accuracy and tracking error when compared to a conventional attitude controller. The proposed tracking control is completely deterministic, simple to implement, does not require knowledge of the uncertainties and does not suffer from chattering.

Keywords: adaptive quaternion; extended state; nonlinear extended; quaternion tracking; state observer

Journal Title: Acta Astronautica
Year Published: 2017

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