Title :
Observer-based spacecraft attitude tracking with guaranteed performance bounds
Author :
de Ruiter, Anton H. J.
Author_Institution :
Dept. of Aerosp. Eng., Ryerson Univ., Toronto, ON, Canada
Abstract :
Recently, a sequential Lyapunov technique has been developed for the purpose of determining non-conservative steady-state performance bounds for rigid spacecraft attitude tracking. In particular, given known bounds on disturbance torques and uncertainties in the spacecraft inertia matrix, non-conservative ultimate bounds were obtained for the attitude tracking error assuming that the attitude and angular velocity are measured with known bounds on the measurement errors. In this paper, these results are extended to the case where the attitude and angular velocity are not measured, but estimated using an observer. Specifically, it is shown that given any attitude and angular velocity observer with known ultimate bounds on the estimation errors, the previously developed expressions for the ultimate bounds on the tracking error remain valid with observer-based control, provided the ultimate bounds on the estimation errors are used in place of the previously fixed bounds on the measurement errors. A numerical example of attitude tracking using a gyro and a single vector measurement demonstrates the utility of the proposed technique.
Keywords :
Lyapunov methods; angular velocity control; attitude control; estimation theory; observers; space vehicles; angular velocity estimation; angular velocity observer; attitude observer; attitude tracking error; disturbance torques; disturbance uncertainties; estimation errors; guaranteed performance bounds; measurement errors; nonconservative steady-state performance bounds; nonconservative ultimate bounds; observer-based control; observer-based spacecraft attitude tracking; rigid spacecraft attitude tracking; sequential Lyapunov technique; spacecraft inertia matrix; Angular velocity; Attitude control; Estimation error; Magnetic field measurement; Observers; Quaternions; Space vehicles;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7171827