A quaternion-based adaptive attitude tracking controller without velocity measurements

B. T. Costic; D. M. Dawson; M. S. De Queiroz; V. Kapila

doi:10.1109/CDC.2000.914164

A quaternion-based adaptive attitude tracking controller without velocity measurements

B. T. Costic, D. M. Dawson, M. S. De Queiroz, V. Kapila

Mechanical and Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The main problem addressed in this paper is the quaternion-based, attitude tracking control of rigid spacecraft without angular velocity measurements and in the presence of an unknown inertia matrix. As a stepping-stone, we first design an adaptive, full-state feedback controller that compensates for parametric uncertainty while ensuring asymptotic attitude tracking errors. The adaptive, full-state feedback controller is then redesigned such that the need for angular velocity measurements is eliminated. The proposed adaptive, output feedback controller ensures asymptotic attitude tracking.

Original language	English (US)
Pages (from-to)	2424-2429
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
Volume	3
DOIs	https://doi.org/10.1109/CDC.2000.914164
State	Published - Dec 2000

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2000.914164

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A quaternion-based adaptive attitude tracking controller without velocity measurements

Abstract

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