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Robust adaptive sliding mode tracking control for a rigid body based on Lie subgroups of SO(3)

  • *Corresponding author: Zongyu Zuo

    *Corresponding author: Zongyu Zuo 

This work was supported by the National Natural Science Foundation of China under Grant 62073019

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  • This paper considers the attitude tracking control problem for a rigid body. In order to avoid the complexity and ambiguity associated with other attitude representations (such as Euler angles or quaternions), the attitude dynamics and the proposed control system are represented globally on special orthogonal groups. An adaptive controller based on a Lie subgroup of SO(3) is developed such that the rigid body can track any given attitude command asymptotically without requiring the exact knowledge of the inertia moment. In the presence of external disturbances, the adaptive controller is enhanced with an additional robust sliding mode term by following the same idea within the framework of SO(3). Finally, simulation results are presented to demonstrate efficiency of the proposed controllers.

    Mathematics Subject Classification: Primary: 58F15, 58F17; Secondary: 53C35.

    Citation:

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  • Figure 1.  Adaptive attitude tracking responses without disturbances

    Figure 2.  Robust adaptive sliding mode attitude tracking responses with disturbances

    Table 1.  parameters in simulation

    Parameters Scenario (i) Scenario (ii)
    $ k $ 10 50
    $ k_{J} $ 0.35 0.4
    $ \varsigma $ $ \backslash $ 0.002
    $ \delta $ $ \backslash $ 0.8
    $ \varepsilon $ $ \backslash $ 1
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